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| Received:March 24, 2008Revised:September 22, 2008 |
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| Neural-network-based two-loop control of robotic manipulators including actuator dynamics in task space |
| Liangyong WANG, Tianyou CHAI, Zheng FANG1 |
| (Key Laboratory of Integrated Automation of Process Industry, Northeastern University, Shenyang Liaoning 110004, China; Research Center of Automation, Northeastern University, Shenyang Liaoning 110004, China) |
| Abstract: |
| A neural-network-based motion controller in task space is presented in this paper. The proposed controller is addressed as a two-loop cascade control scheme. The outer loop is given by kinematic control in the task space. It provides a joint velocity reference signal to the inner one. The inner loop implements a velocity servo loop at the robot joint level. A radial basis function network (RBFN) is integrated with proportional-integral (PI) control to construct a velocity tracking control scheme for the inner loop. Finally, a prototype technology based control system is designed for a robotic
manipulator. The proposed control scheme is applied to the robotic manipulator. Experimental results confirm the validity
of the proposed control scheme by comparing it with other control strategies. |
| Key words: Robotic manipulator Motion control Neural network Task space |
