- Tytuł:
- Comparison of the adaptive and neural network control for LWR 4+ manipulators: simulation study
- Autorzy:
- Woliński, Łukasz
- Powiązania:
- https://bibliotekanauki.pl/articles/140152.pdf
- Data publikacji:
- 2020
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
adaptive control
neural network control
redundant manipulator - Opis:
- This paper deals with two control algorithms which utilize learning of their models’ parameters. An adaptive and artificial neural network control techniques are described and compared. Both control algorithms are implemented in MATLAB and Simulink environment, and they are used in the simulation of a postion control of the LWR 4+ manipulator subjected to unknown disturbances. The results, showing the better performance of the artificial neural network controller, are shown. Advantages and disadvantages of both controllers are discussed. The usefulness of the learning algorithms for the control of LWR 4+ robots is discussed. Preliminary experiments dealing with dynamic properties of the two LWR 4+ robots are reported.
- Źródło:
-
Archive of Mechanical Engineering; 2020, LXVII, 1; 111-121
0004-0738 - Pojawia się w:
- Archive of Mechanical Engineering
- Dostawca treści:
- Biblioteka Nauki
Artykuł