The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Prefilter Type Velocity Compensating Robot Controller Design using Modified Chaotic Neural Networks

Prefilter 형태의 카오틱 신경망 속도보상기를 이용한 로봇 제어기 설계

  • Published : 2001.04.01
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Abstract

This paper proposes a prefilter type velocity compensating control system using modified chaotic neural networks for the trajectory control of robotic manipulator. Since the structure of modified chaotic neural networks(MCNN) and neurons have highly nonlinear dynamic characteristics, MCNN can show the robust characteristics for controlling highly nonlinear dynamics like robotic manipulators. For its application, the trajectory controller of the three-axis robot manipulator is designed by MCNN. The MCNN controller acts as the compensator of the PD controller. Simulation results show that learning error decrease drastically via on-line learning and the performance is excellent. The MCNN controller showed much better control performance and shorter calculation time compared to the RNN controller, Another advantage of the proposed controller could by attached to conventional robot controller without hardware changes.

Keywords

References

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