平面双连杆机器人的神经控制

2019 16th Conference on Electrical Machines, Drives and Power Systems (ELMA) Pub Date : 2019-06-01 DOI:10.1109/ELMA.2019.8771670

Zhivko Zhekov, Emil Y. Marinov

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引用次数: 4

摘要

提出了一种双连杆平面机器人的神经网络控制方法。该控制系统包含一个前馈神经网络作为神经模型和神经控制器。采用基于梯度下降规则和误差反向传播的神经网络在线学习过程。已完成的仿真研究证实了系统在负荷变化时的良好性能。

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Neural Control of Two-link Planar Robot

In this paper is proposed neural control of a two-link planar robot. The control system contains one feedforward neural network used as both neural model and neural controller. Neural network on-line learning process, based on gradient descent rule and error backpropagation is used. Accomplished simulation research confirms sufficient system performance at load variation.

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来源期刊

2019 16th Conference on Electrical Machines, Drives and Power Systems (ELMA)

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