Inverse kinematics learning for redundant robot manipulators with blending of support vector regression machines

2016 ◽  
Author(s):  
Jie Chen ◽  
Henry Y K Lau
Keyword(s):  
Support Vector Regression ◽  
Inverse Kinematics ◽  
Robot Manipulators ◽  
Support Vector ◽  
Redundant Robot ◽  
Kinematics Learning

scholarly journals Robust Control for Robot Manipulators: Support Vector Regression Based Command Filtered Adaptive Backstepping Approach

2017 ◽  
Vol 50 (1) ◽  
pp. 8208-8213 ◽  
Author(s):  
Joseph Jean-Baptiste Mvogo Ahanda ◽  
Jean Bosco Mbede ◽  
Achille Melingui ◽  
Bernard Essimbi Zobo ◽  
Othman Lakhal ◽  
...  
Keyword(s):  
Robust Control ◽  
Support Vector Regression ◽  
Robot Manipulators ◽  
Support Vector ◽  
Adaptive Backstepping ◽  
Backstepping Approach

Robust adaptive control for robot manipulators: Support vector regression-based command filtered adaptive backstepping approach

Robotica ◽  
2017 ◽  
Vol 36 (4) ◽  
pp. 516-534 ◽  
Author(s):  
Joseph Jean-Baptiste Mvogo Ahanda ◽  
Jean Bosco Mbede ◽  
Achille Melingui ◽  
Bernard Essimbi
Keyword(s):  
Adaptive Control ◽  
Support Vector Regression ◽  
Closed Loop ◽  
Robot Manipulators ◽  
Robust Adaptive Control ◽  
Support Vector ◽  
Closed Loop System ◽  
Adaptive Backstepping ◽  
Backstepping Approach ◽  
Robust Adaptive

SUMMARYThis study derives a robust adaptive control of electrically driven robot manipulators using a support vector regression (SVR)-based command filtered adaptive backstepping approach. The robot system is supposed to be subject to model uncertainties, neglected dynamics, and external disturbances. The command filtered backstepping algorithm is extended to the case of the robot manipulators. A robust term is added to the common adaptive SVR algorithm, to mitigate the effects of the SVR approximation error in the path tracking performance. The stability analysis of the closed loop system using the Lyapunov theory permits to highlight adaptation laws and to prove that all the signals in the closed loop system are bounded. Simulations show the effectiveness of the proposed control strategy.

Sign in / Sign up

Export Citation Format

Share Document