带输出反馈的机械臂神经控制研究

Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02. Pub Date : 2002-11-09 DOI:10.1109/ROMOCO.2002.1177084

W. Wróblewski

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引用次数: 0

摘要

本文回顾了前人提出的具有输出反馈的神经网络控制方法。该控制方案无需直接测量关节速度，而是使用神经观测器来估计这些速度。在仿真中比较了之前提出的反馈控制和最优反馈控制的效率。两种控制器均采用神经网络实现。给出了二连杆平面机械臂的算例结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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On neural control of a manipulator with output feedback

In this paper, neural network control with output feedback, developed previously is recalled. This control scheme works without direct measuring of joint velocities, but with a neural observer to estimate these velocities. Efficiency of the feedback control presented previously and the optimal feedback control presented is compared in simulations. Both controllers are implemented by using neural networks. Example results for a 2-link planar manipulator are presented.

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Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.

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