Trajectory following control of robotic manipulators using neural networks

M. Kemal Ciliz, Can Isik

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

A novel learning control architecture utilizing nonlinear computational properties of neural networks is presented. The nonlinear dynamics of the manipulator is assumed to be unknown, and the control scheme efficiently learns the required feedforward torques for a specified trajectory after a repeated number of trials. Simulation tests give promising results for real-time implementation of the algorithm.

Original languageEnglish (US)
Title of host publicationProc 5 IEEE Int Symp Intell Control 90
PublisherIEEE Computer Society
Pages536-540
Number of pages5
ISBN (Print)0818621087
StatePublished - Dec 1 1990
EventProceedings of the 5th IEEE International Symposium on Intelligent Control 1990 - Philadelphia, PA, USA
Duration: Sep 5 1990Sep 7 1990

Publication series

NameProc 5 IEEE Int Symp Intell Control 90

Other

OtherProceedings of the 5th IEEE International Symposium on Intelligent Control 1990
CityPhiladelphia, PA, USA
Period9/5/909/7/90

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Ciliz, M. K., & Isik, C. (1990). Trajectory following control of robotic manipulators using neural networks. In Proc 5 IEEE Int Symp Intell Control 90 (pp. 536-540). (Proc 5 IEEE Int Symp Intell Control 90). IEEE Computer Society.