| Title |
A Design of Neural Network Control Architecture for Robot Motion |
| Keywords |
토오크계산법 ; 신경회로망 제어구조 ; BP 신경회로망 Computed Torgue Method ; Neural Network Control Architecture ; Back-Propagation Neural Network |
| Abstract |
This paper deals with a design of neural network control architectures for robot motion. Three types of control architectures are designed as follows : 1) a neural network control architecture which has the same characteristics as computed torque method 2) a neural network control architecture for compensating the control error on computed torque method with fixed feedback gain 3) neural network adaptive control architecture. Computer simulation of PUMA manipulator with 6 links is conducted for robot motion in order to examine the proposed neural network control architectures. |