다층 신경회로망을 이용한 유연성 로보트팔의 위치제어

Position Control of a One-Link Flexible Arm Using Multi-Layer Neural Network

This paper proposes a neuro-controller for position control of one-link flexible robot arm. Basically the controller consists of a multi-layer neural network and a conventional PD controller. Two controller are parallelly connected. Neural network is traind by the conventional error back propagation learning rules. During learning period, the weights of neural network are adjusted to minimize the position error between the desired hub angle and the actual one. Finally the effectiveness of the proposed approach will be demonstrated by computer simulation.