منابع مشابه
Control of pneumatic robot arm dynamics by a neural network
The trajectory control of a pneumatically driven robot arm resembing a skeletal muscle system is studied. The arm dynamics have been shown to be hysteretic and signiicantly changing in time due to external innuences (Hesselroth et al., IEEE Systems, Man and Cybernetics, in press) thus requiring an adaptive controller. A highly adaptive feedback algorithm is suggested and shown to control accura...
متن کاملNeural Network Control of a Pneumatic Robot Arm
A neural map algorithm has been employed to control a five-joint pneumatic robot arm and gripper through feedback from two video cameras. The pneumatically driven robot arm (SoftArm) employed in this investigation shares essential mechanical characteristics with skeletal muscle systems. To control the position of the arm, 200 neurons formed a network representing the three-dimensional workspace...
متن کاملReinforcement Learning of a Pneumatic Robot Arm Controller
We applied Reinforcement Learning (RL) on a real robot arm actuated by two pneumatic artificial muscles that expose a highly nonlinear behaviour. To facilitate learning, we developed an empirical model based on real robot observations. Using the learned simulation model, reinforcement learning was able to quickly learn good robot controllers.
متن کاملAdaptive Control for a One-Link Robot Arm Actuated by Pneumatic Muscles
Presently artificial pneumatic muscles are used in various applications due to their simple construction, lightweight and high force to weight ratio. However, controls of various mechanical systems actuated by pneumatic muscles are facing various problems. The parameters of the muscles are nonlinear and time-varying due to temperature change and the deterioration of the pneumatic muscle materia...
متن کاملHybrid control of a pneumatic artificial muscle (PAM) robot arm using an inverse NARX fuzzy model
We investigated the possibility of applying a hybrid feed-forward inverse nonlinear auto-regressive with exogenous input (NARX) fuzzy model-PID controller to a nonlinear pneumatic artificial muscle (PAM) robot arm to improve its joint angle position output performance. The proposed hybrid inverse NARX fuzzy-PID controller is implemented to control a PAM robot arm that is subjected to nonlinear ...
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ژورنال
عنوان ژورنال: Proceedings of the JFPS International Symposium on Fluid Power
سال: 1993
ISSN: 2185-6303
DOI: 10.5739/isfp.1993.755