A direct-drive robot adaptive controller based on neural networks /
The Lyapunov based theoretical development of a direct-drive neural network robot controller is shown in the paper. Derived equations of the adaptive neural network sliding-mode controller were verified on a real industrial direct-drive. 3.D.O.F. PUMA mechanism. The new neural network continuous sli...
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| Main Authors: | , , |
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| Format: | Book Chapter |
| Jezik: | English |
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| Sorodne knjige/članki: | Vsebovano v:
Proceedings of recent advances in soft computing '98 De Montfort University, July 2nd and July 3rd 1998. Vol. 2, Neural networks and fuzzy logic |
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| LEADER | 01553naa a2200205 ib4500 | ||
|---|---|---|---|
| 001 | 3902230 | ||
| 003 | SI-MaCOB | ||
| 005 | 20030521000000.0 | ||
| 008 | 980915s1998 xxk|||||||||||||| ||eng c | ||
| 040 | |a KTFMB |b slv |c SI-MaIIZ |d KTFMB |e ppiak | ||
| 080 | |a 007.52 | ||
| 100 | 1 | |a Šafarič, Riko. |4 aut | |
| 245 | 0 | 0 | |a A direct-drive robot adaptive controller based on neural networks / |c Riko Šafarič, Karel Jezernik, Rob M. Parkin. |
| 300 | |a str. 230-242. | ||
| 520 | |a The Lyapunov based theoretical development of a direct-drive neural network robot controller is shown in the paper. Derived equations of the adaptive neural network sliding-mode controller were verified on a real industrial direct-drive. 3.D.O.F. PUMA mechanism. The new neural network continuous sliding-mode controller was successfully tested for trajectory tracking control tasks with respects to two criteria: convergence properties of the proposed control algorithm (high speed cyclic movement) and adaptation capability of the algorithm for sudden changes in the manipulator dynamics (load). | ||
| 653 | 0 | |a control |a robotics |a neural networks | |
| 653 | 0 | |a krmiljenje |a robotika |a nevronske mreže | |
| 700 | 1 | 2 | |a Jezernik, Karel. |4 aut |
| 700 | 1 | 2 | |a Parkin, Rob M. |4 aut |
| 773 | 0 | |a Workshop on Soft Computing (1998 : Leicester) |t Proceedings of recent advances in soft computing '98 De Montfort University, July 2nd and July 3rd 1998. Vol. 2, Neural networks and fuzzy logic |d Leicester : Centre for Computational Intelligence De Montfort University, 1998 |w 3901718 |z 1857212592 |g Vol. 2, str. 230-242 | |