Neural Network Based Method for Estimation of Robot Trajectory Control Parameters
نویسندگان
چکیده
This paper explains about a neural network based control scheme to determine trajectory control parameters i.e. velocity, acceleration and jerk for a industrial robot performing a defined task. The proposed approach is the blend of quintic B-spline and neural network system for prediction of joint control parameters. The proposed approach is applied to a case of three robot trajectory control problem. The same problem is solved using a RobotiCad toolbox of matlab. The performance of the proposed approach is compared with the output of toolbox based on the total time and the torque consumed for the completion of the desired task.
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