机器人机械手的智能可重构控制

IJCNN'99. International Joint Conference on Neural Networks. Proceedings (Cat. No.99CH36339) Pub Date : 1999-07-10 DOI:10.1109/IJCNN.1999.832690

J. Chung, S. Velinsky

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引用次数: 2

摘要

提高高性能机器人系统可靠性的一种方法是允许机器人控制系统的自动重新配置，以适应执行器故障和/或损坏。为开发可重构机器人机械手控制器，引入了扩展对象及其闭环辨识的新概念。这是通过使用人工神经网络实现的。仿真研究验证了该控制算法的有效性。

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Intelligent reconfigurable control of robot manipulators

One approach towards improving the reliability of high-performance robotic systems is to allow for the automatic reconfiguration of the robot's control system to accommodate actuator failure and/or damage. The new concept of the extended plant and its identification in closed loop is introduced for developing a reconfigurable robot manipulator controller. It is made possible through the use of artificial neural networks. A simulation study demonstrates the effectiveness of the developed control algorithm.

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IJCNN'99. International Joint Conference on Neural Networks. Proceedings (Cat. No.99CH36339)

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