مشاهده مشخصات مقاله
On The Dynamics of A Neural Network For Robot Impedance Force Control
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نویسنده (ها) |
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Farnaz Sabahi
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Mohamad Mehdi Fateh
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Ali Akbar Gharevici
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مربوط به کنفرانس |
دوازدهمین کنفرانس بینالمللی سالانه انجمن کامپیوتر ایران |
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چکیده |
The problem of uncertainty for robot manipulator dynamic in contact with an environment using impedance control
and neural network is considered. Control of an industrial robot is mainly a problem of dynamics. It includes nonlinearities,
uncertainties and external perturbations that should be considered in the design of control laws.In the
proposed method a perceptron network is used as an approximator for modeling uncertain parts of robot dynamic
but we assumed by first principle knowledge there is known parts in robot dynamic.Extended backpropagation
learning algorithm is used to adjust the parameters of network.Neural network parameter matrices are adapted
online ,with no initial offline training, using the force error as the objective function. The neuro-controller
guarantees the closed loop stability for any arbitrary initial values of states, neural network parameters and any
unknown-but-bounded disturbances.Simulation results show the applicatibility and adaptability of the method to the
impedance force control. |
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قیمت |
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برای اعضای سایت : ۱٠٠,٠٠٠ ریال
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برای دانشجویان عضو انجمن : ۲٠,٠٠٠ ریال
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برای اعضای عادی انجمن : ۴٠,٠٠٠ ریال
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خرید مقاله
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