Trajectory control of robotic manipulators by using a feedback-error-learning neural network
- 1 September 1995
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 13 (5), 449-459
- https://doi.org/10.1017/s0263574700018282
Abstract
Summary This paper presents a neural network based control strategy for the trajectory control of robot manipulators. The neural network learns the inverse dynamics of a robot manipulator without any a priori knowledge of the manipulator inertial parameters nor any a priori knowledge of the equation of dynamics. A two step feedback-error-learning process is proposed. Strategies for selection of the training trajectories and difficulties with on-line training are discussed.Keywords
This publication has 4 references indexed in Scilit:
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- Neuro-adaptive control of robotic manipulatorsRobotica, 1993
- Trajectory control of robotic manipulators using neural networksIEEE Transactions on Industrial Electronics, 1991
- Feedback-error-learning neural network for trajectory control of a robotic manipulatorNeural Networks, 1988