Improved tracking control for robots using neural networks

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationAmerican Control Conference
PublisherPubl by IEEE
Pages69-73
ISBN (Print)780308611
Publication statusPublished - 1993
Externally publishedYes

Conference

TitleProceedings of the 1993 American Control Conference Part 3 (of 3)
CitySan Francisco, CA, USA
Period2 - 4 June 1993

Abstract

The tracking control of robots in joint space is studied in this paper. A new control algorithm is proposed based on the well known computed torque method and a feedforward compensating controller. The function of the feedforward controller, which is realized using an RBF neural network, is to provide high tracking accuracy of robot path following performance. It is demonstrated through simulations that the proposed scheme could achieve much better tracking performance.

Citation Format(s)

Improved tracking control for robots using neural networks. / Feng, Gang.

American Control Conference. Publ by IEEE, 1993. p. 69-73.

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)peer-review