Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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A Study on Position Control of the Direct Drive Robot Using Neural Networks

신경회로망을 이용한 직접 구동형 로봇의 위치제어에 관한 연구

  • 신춘식 (부경대학교 공과대학 제어계측공학과) ;
  • 황용연 (부경대학교 공과대학 제어계측공학과) ;
  • 노창주 (한국해양대학교 기관공학과)
  • Published : 1997.06.01
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Abstract

This paper is concerned with position control of direct drive robots. The proposed algorithm consists of the feedback controller and neural networks. Mter the completion of learning, the output of the feedback controller is nearly equal to zero, and the neural networks play an important role in the control system. Therefore, the optimum retuning of control parameters is unnecessary. In other words, the proposed algorithm does not need any knowledge of the con¬trolled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the position control of a parallelogram link-type direct drive robot.

Keywords

References

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