Adaptive ANN‐based control for constrained robot manipulators
Source: International Journal of Intelligent Systems Technologies and Applications, Volume 2, Number 1, 2 December 2006 , pp. 77-99(23)
Publisher: Inderscience Publishers
Abstract:An Artificial Neural Network (ANN)‐based approach is proposed in this paper for the motion and force control of constrained robot manipulators. The dynamic model of constrained manipulator is modified to contain two sets of state variables, where one describes the constrained motion and the other describes the reduced, unconstrained one. An application related to a disk cutter robot is considered. The design objective is that under a prescribed radius of the disk and a desired force to be applied by the effector of the manipulator, an ANN‐based control system is to be designed to develop the requested torques on the manipulator actuators. The suggested controller is simple and can be implemented easily. The main feature of employing the ANN here is that we obtained a force sensor‐less control system and a good adaptation with environmental unmodelled dynamics. Simulation results are presented to validate the proposed approach.
Document Type: Research Article
Affiliations: 1: Department of Electrical and Computer Engineering, Sultan Qaboos University P.O. Box 33, Muscat, Oman; Intelligent Control, Design and Optimization of Complex Systems Laboratory, Ecole Nationale d 2: Ingenieurs de Sfax, Tunisia. 3: Department of Electrical and Computer Engineering, Sultan Qaboos University P.O. Box 33, Muscat, Oman.
Publication date: December 2, 2006
- Intelligent systems refer broadly to computer embedded or controlled systems, machines and devices that possess a certain degree of intelligence. International Journal of Intelligent Systems Technologies and Applications, a peer-reviewed double-blind refereed journal, publishes original papers featuring innovative and practical technologies related to the design and development of intelligent systems. Its coverage also includes papers on intelligent systems applications in areas such as manufacturing, bioengineering, agriculture, services, home automation and appliances, medical robots and robotic rehabilitations, space exploration, etc.
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