Neural networks in feedforward control of a robot arm driven by antagonistically coupled drives
Autor: | Goran Kvascev, Nenad Bascarevic, Predrag Milosavljevic, Kosta Jovanovic |
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Rok vydání: | 2012 |
Předmět: |
0209 industrial biotechnology
Artificial neural network Computer science business.industry 020208 electrical & electronic engineering Feed forward Robotics 02 engineering and technology Backpropagation Mechanical system Nonlinear system ComputingMethodologies_PATTERNRECOGNITION 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Artificial intelligence business Robotic arm |
Zdroj: | 11th Symposium on Neural Network Applications in Electrical Engineering. |
DOI: | 10.1109/neurel.2012.6419967 |
Popis: | The paper deals with a rapidly growing trend in robotics - anthropomimetics. Following a human paragon, bio-inspired control of the robot arm is presented using artificial neural networks. This work demonstrates results achieved by feedforward control comparing feedforward backpropagation networks and radial bases networks. Use of radial bases network prevails as an efficient tool to evade the exact mathematical modeling and conventional control of the complex mechanical system that is highly nonlinear and includes passive compliance. |
Databáze: | OpenAIRE |
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