Neural Network for Trajectory Control of Robotic Manipulator

• Main Authors: Liu, Yen-Hong, 劉彥宏
• Other Authors: Wu Yung-Chun
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/23198431030265063937

碩士 === 國立交通大學 === 控制工程系 === 84 === In this paper, we present a neural-network-based control scheme on thetrajectories tracking for the robotic manipulator. The adaptive capability ofthe neural network controller to learn the dynamics and structured orunstructured uncertainties of the robotic manipulator is demonstrated. Thestability and convergence of the proposed neural-network-based control schemeare guaranteed by the analysis of a Lynapunov function. A model learning isalso used in this thesis. Model learning uses the obtained dynamic model forthe generalized learning of neural networks. The learning procedure is trainedoff line and it is utilized to accerlate learning in the manipulator dynamicsand error convergence with untrained trajectory. Simulations are performedto show the feasibility and effectiveness of the proposed scheme.