Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Compensation of robot manipulator uncertainties using back propagation neural network

역전파 신경회로망에 의한 로봇 팔의 불확실성 보상

  • Lee, Sang-Jae (Hyundai Heavy Industries ) ;
  • Lee, Seok-Won (Dept. of Control and Instrumentation Engineering, Kangwon National University) ;
  • Nam, Boo-Hee (Dept. of Control and Instrumentation Engineering, Kangwon National University)
  • 이상재 (현대중공업(주) 중전기사업본부) ;
  • 이석원 (강원대학교 제어계측공학과) ;
  • 남부희 (강원대학교 제어계측공학과)
  • Published : 1996.12.01
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Abstract

This paper proposes a neural network controller with the computed torque method. The neural network is used not to learn the inverse dynamic model but to compensate the uncertainties of robotic manipulators. When training the neural network, we use the signals present in the proposed controller, which is simpler than that proposed by Ishiguro et al., whose teaching signals of the neural network come from the robot model.

Keywords

References

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