Resolved Motion Control of the Robot Manipulator using Neural Network

신경회로망을 이용한 로보트 매니츌레이터의 Resolved Motion제어기의 설계

  • 송문철 (국제전자 연구2실) ;
  • 조현찬 (중앙대 대학원 전자공학과) ;
  • 이홍기 (중앙대 공대 제어계측공학과) ;
  • 전홍태 (중앙대 공대 전자공학과)
  • Published : 1990.05.01

Abstract

In this paper we propose the resolved motion controller using a neural network for a robot manipulator. Neural identifier designed by a neural network is trained by using a feedback force as an error signal. The identifier approximates the output of a unknown nonlinear system by monitoring both the input and the output of this system. If the neural network is sufficiently trained well, it does not require either strict modelling of the manipulator or precise parameter estimation. The effectiveness of the proposed controller is demonstrated by computer simulation using a two-link planar robot.

Keywords