A neural network based feedforward adaptive controller for robots
- 1 September 1995
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics
- Vol. 25 (9) , 1281-1288
- https://doi.org/10.1109/21.400506
Abstract
In this paper, an adaptive controller for robot manipulators which uses neural networks is presented. The proposed control scheme is based on PD feedback plus a feedforward compensation of full robot dynamics. The feedforward signal is obtained by summing up the weighted outputs of a set of fixed multilayer neural nets. The controller is adaptive to robot dynamics and payload uncertainties. A stability analysis which takes into account neural network learning errors is included. Simulation results showing the feasibility and performance of the approach are given.< >Keywords
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