Aplikasi Simulasi Pengendalian Manipulator Robot dengan Algoritma Pembelajaran Hibrida Fungsi Basis Radial  

Oleh:

Purba, Lasman Parulian

Jenis: Article from Journal - ilmiah nasional - tidak terakreditasi DIKTI
Dalam koleksi: Gematek: Jurnal Teknik Komputer vol. 5 no. 1 (Mar. 2003), page 1-11.
Topik: ALGORITHM; control algorithm; robot manipulator; radial base function network; parameters

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: GG6.2 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

Control algorithm will work well and robot manipulator movement will follow desired path if parameters are known. The problem arise is movement magnitude of manipulator mass parameters followed by inertia moment is difficult to be identified, including link structure and friction. This research uses Artificial Neural Network (ANN) Radial Base Function Network (RBFN). The objective to design and develop simulation program of ANN RBFN use in control of 2 links planar (revolute) robot manipulator. RBFN is used in line fashion to imitate robot manipulator parameters, and to give knowledge efficiently in control. The result is presented in graphical simulation form to facilitate next research.

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