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KMID : 0896219950150010935
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Journal of Daegu Health College
1995 Volume.15 No. 1 p.935 ~ p.947
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A Study on Controlling the Robot Manipulator by using Neuro Computer
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Jeon In-Hyo
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Abstract
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This paper proposed a algorithm of the thrajectory control method for a robot manipulator by neuro computer. The total torque for a robot manipulator is a sum of the linear feedback controller torque and the feedfoward controller torque of neuro computer. The proposed neural network is a multiayer neural network and learns the inverse dynamics of robot manipulator by means of PD(propotional-derivative) controller error torque. The error BP(back propagation) learning neural network controller does not directly require manipulator dynamics dynamics information, it learns the information by training and stores the information at connection weights. The proposed control scheme is investigated for the planar robot manipulator with two joints by computer simulation.
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