Improved tracking control for robots using neural networks

Gang Feng

Improved tracking control for robots using neural networks

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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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.

Original language	English
Title of host publication	American Control Conference
Publisher	IEEE
Pages	69-73
ISBN (Print)	780308611
Publication status	Published - 1993
Externally published	Yes
Event	Proceedings of the 1993 American Control Conference Part 3 (of 3) - San Francisco, CA, USA Duration: 2 Jun 1993 → 4 Jun 1993

Conference

Conference	Proceedings of the 1993 American Control Conference Part 3 (of 3)
City	San Francisco, CA, USA
Period	2/06/93 → 4/06/93

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@inproceedings{f2a71bd61b704597b4d881cdd7c05bae,

title = "Improved tracking control for robots using neural networks",

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.",

author = "Gang Feng",

year = "1993",

language = "English",

isbn = "780308611",

pages = "69--73",

booktitle = "American Control Conference",

publisher = "IEEE",

address = "United States",

note = "Proceedings of the 1993 American Control Conference Part 3 (of 3) ; Conference date: 02-06-1993 Through 04-06-1993",

}

TY - GEN

T1 - Improved tracking control for robots using neural networks

AU - Feng, Gang

PY - 1993

Y1 - 1993

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0027870743&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0027870743&origin=recordpage

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 780308611

SP - 69

EP - 73

BT - American Control Conference

PB - IEEE

T2 - Proceedings of the 1993 American Control Conference Part 3 (of 3)

Y2 - 2 June 1993 through 4 June 1993

ER -

Improved tracking control for robots using neural networks

Abstract

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