Adaptive ANN Control of Robot Arm Using a Structure of Lagrange Equation

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  • YAMAKITA Masaki
    Tokyo Institute of Technology, Department of Control Engineering
  • SATOH Takashi
    Tokyo Institute of Technology, Department of Control Engineering
  • IWATA Takaaki
    Tokyo Institute of Technology, Department of Mechanical Enviromental Informatics

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Other Title
  • ラグランジュ方程式の構造に着目したANNを用いたロボットアームの制御

Description

Several adaptive control algorithms for robot manipulators using artificial neural network (ANN) have been proposed and an algorithm using physical structure of robot manipulators also has been proposed. But the structure of ANN should be modified according to the change of the degree of freedom of the system. In this paper, we propose the algorithm in which structure of ANN is independent of the degree of freedom and its performance is compared to some other algorithms by simulation and experiment.

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