Neural network-based nonlinear tracking control of kinematically redundant robot manipulators

Authors:
Naveen Kumar;Vikas Panwar;N. Sukavanam;S. P. Sharma;J. H. Borm
Affiliations:
Department of Mechanical Engineering, Ajou University, Suwon-443749, Republic of Korea;Department of Mathematics, C D L University, Sirsa-125055, Haryana, India;Department of Mathematics, I I T Roorkee, Roorkee-247667, Uttarakhand, India;Department of Mathematics, I I T Roorkee, Roorkee-247667, Uttarakhand, India;Department of Mechanical Engineering, Ajou University, Suwon-443749, Republic of Korea
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
2011

Citing 10
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Abstract

In this paper, neural network-based nonlinear dynamical control of kinematically redundant robot manipulators is considered. The neural network-based controller achieves end-effector trajectory tracking as well as subtask tracking effectively. A feedforward neural network is employed to learn the parametric uncertainties, existing in the dynamical model of the robot manipulator. The whole system is shown to be stable in the sense of Lyapunov. Numerical simulation studies are carried out for a 3R planar robot manipulator to show the effectiveness of the control scheme.