Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)
- 2002.04a
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- Pages.573-578
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- 2002
The Adaptive-Neuro Control of Robot Manipulator Using DSPs
디지털 시그널 프로세서를 이용한 로봇 매니퓰레이터의 적응-신경제어
Abstract
In this paper, it Is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-negro control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.
Keywords