Neural and adaptive control of a rigid link manipulator

Authors:
Dorin Popescu;Dan Selisteanu;Livia Popescu
Affiliations:
Faculty of Automation, Computers & Electronics, University of Craiova, Romania;Faculty of Automation, Computers & Electronics, University of Craiova, Romania;Faculty of Automation, Computers & Electronics, University of Craiova, Romania
Venue:
WSEAS TRANSACTIONS on SYSTEMS
Year:
2008

Citing 10
Cited 1

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WSEAS TRANSACTIONS on SYSTEMS

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Abstract

In this paper a comparison of classical, adaptive and neural control strategies for a robotic manipulator with two revolute joints is presented. The conventional computed-torque method is presented, as a starting point for the design of the adaptive and neural control techniques. Two adaptive control strategies, a non-model based neural control strategy and a model based neural control strategy are implemented. Computer simulations are performed for the control of a rigid manipulator with two revolute joints, in order to verify the performances of the control strategies and to make some useful comparisons. If a classical controller already controls a robot the advantage of proposed structure is that extension to a model based neural controller for performances improvement is easy.