Trajectory Tracking Control of a Redundantly Actuated Parallel Robot Using Diagonal Recurrent Neural Network

2009 ◽  
Author(s):  
Yan Li ◽  
Yong Wang
Keyword(s):  
Neural Network ◽  
Recurrent Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Robot ◽  
Trajectory Tracking Control ◽  
Redundantly Actuated

Neural Network Trajectory Tracking Control of Compliant Parallel Robot

2015 ◽  
Vol 799-800 ◽  
pp. 1069-1073
Author(s):  
Hao Tian ◽  
Yue Qing Yu
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Rbf Neural Network ◽  
Control Strategies ◽  
Parallel Robot ◽  
Network Control ◽  
Trajectory Tracking Control ◽  
Compliant Joint

Trajectory tracking control of compliant parallel robot is presented. According to the characteristics of compliant joint, the system model is derived and the dynamic equation is obtained based on the Lagrange method. Radial Basis Function (RBF) neural network control is designed to globally approximate the model uncertainties. Further, an itemized approximate RBF control method is proposed for higher identify precision. The trajectory tracking abilities of two control strategies are compared through simulation.

Trajectory tracking control of robot manipulators using a neural-network-based torque compensator

1998 ◽  
Vol 212 (5) ◽  
pp. 361-372 ◽  
Author(s):  
Q Li ◽  
S K Tso ◽  
W J Zhang
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
High Performance ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Lyapunov Stability Theory ◽  
System Stability ◽  
Trajectory Tracking Control ◽  
Modelling Uncertainties

In this paper, an adaptive neural-network-based torque compensator is developed for the trajectory-tracking control of robot manipulators. The overall control structure employs a classical non-linear decoupling controller for actuating torque computation based on an approximated robot dynamic model. To suppress the effects of uncertainties associated with the estimated model, a supplementary neural network algorithm is developed to generate compensation torques. The weight adaptation rule for this neuro-compensator is derived on the basis of the Lyapunov stability theory. Both global system stability and the error convergence can then be guaranteed. Simulation studies on a two-link robot manipulator demonstrate that high performance of the proposed control algorithm could be achieved under severe modelling uncertainties.

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