The Adaptive-Neuro Control of Robot Manipulator Based-on TMS320C50 Chip

TMS320C50칩을 이용한 로봇 매니퓰레이터의 적응-신경제어

We propose a new technique of adaptive-neuro controller design 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 loaming a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real time control of robot system using DSPs(TMS320C50)