On the characteristics of the robot manipulator controller using neural networks
- 13 January 2003
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Several robot controller schemes using neural networks are proposed. To extract advantages from the neural network controller, it is necessary to clarify the capabilities of the neural networks to express a nonlinear function as well as the robustness of the controller. For this purpose, an inverse kinematics problem and a force control problem are presented. The characteristics of the neural network are compared to adaptive control for the robot controller using the force control problem as an example.Keywords
This publication has 2 references indexed in Scilit:
- A multilayered neural network controllerIEEE Control Systems Magazine, 1988
- A unified approach for motion and force control of robot manipulators: The operational space formulationIEEE Journal on Robotics and Automation, 1987