Simulation of Nonlinear Control Approximated to Human Operation for Robot Manipulator  

Oleh:

Ono, Osamu ; Horie, Masanori

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1260-1263.
Topik: Simulation; Nonlinear Control; Human Operation; Robot Manipulator
Fulltext: AC021636.PDF (409.85KB)

Isi artikel

In this paper, we consider a nonlinear control of robot manipulator approximated to human motion. The proposed algorithm adjusts the parameters of joint controller based on neural network by using measured data from human arm motion. The robot manipulator has several controllers attached to each joint. In order to tune parameters of each controller, a neural network with back propagation algorithm is adopted. A comparison between the output joint angles and the required one is presented by using the joint controllers with each neural network.

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