PD Control of Robot with RBF Networks Compensation
نویسندگان
چکیده
In this paper the popular PD controller of robot manipulator is modified. RBF neural networks are used to compensate the gravity and fi-iction. No exact knowledge of the robot dynamics is required. The euggeated learning law of neuro compensator is similar to the well-known backpropagation algorithm but wit h addit ional robust terms. Lyapuuov-liie analysis is used to derive the stability of learning algorithm.
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تاریخ انتشار 2000