Development and neural control of a robotic manipulator with two degrees of freedom

Development and neural control of a robotic manipulator with two degrees of freedom

This paper presents the design and implementation of a two degree-of-freedom robotic manipulator using rotary joints and driven by three-phase induction motors. The robot is allowed to move over a spatial area of a quarter of a sphere. The position control is accomplished by neural network controlle...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: de Vasconcelos Lima, T. L., de Freitas, I. S., de Menezes Filho, J. B., Sobrinho, C. A. O. N., da Silva, J. F.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Autoregressive processes
Biological neural networks
Manipulators
Mechatronics
Neural network
Neurons
Position control
Positioning system
Service robots
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:This paper presents the design and implementation of a two degree-of-freedom robotic manipulator using rotary joints and driven by three-phase induction motors. The robot is allowed to move over a spatial area of a quarter of a sphere. The position control is accomplished by neural network controllers and the overall control system performance is evaluated based on trajectory following response (sinusoidal reference signals) and on position response (step reference signals).
DOI:10.1109/SCE.2011.6092130