Robot tracking in task space using neural networks
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Neural Networks - Conference Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. |
| Pages | 2854-2858 |
| Volume | 5 |
| Publication status | Published - 1994 |
| Externally published | Yes |
Publication series
| Name | |
|---|---|
| Volume | 5 |
Conference
| Title | Proceedings of the 1994 IEEE International Conference on Neural Networks. Part 1 (of 7) |
|---|---|
| City | Orlando, FL, USA |
| Period | 27 - 29 June 1994 |
Link(s)
Abstract
This paper considers tracking control of robots in task space. A new control scheme is proposed based on a kind of conventional controller and a neural network based compensating controller. This scheme takes advantages of simplicity of the model based control approach and uses the neural network controller to compensate for the robot modelling uncertainties. The neural network is trained on line based on Lyapunov theory and thus its convergence is guaranteed.
Citation Format(s)
Robot tracking in task space using neural networks. / Feng, Gang; Chak, C. K.
IEEE International Conference on Neural Networks - Conference Proceedings. Vol. 5 Institute of Electrical and Electronics Engineers, Inc., 1994. p. 2854-2858.
IEEE International Conference on Neural Networks - Conference Proceedings. Vol. 5 Institute of Electrical and Electronics Engineers, Inc., 1994. p. 2854-2858.
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review
