Tracking Control for Robot Arm Using Neural Network with Simultaneous Perturbation Learning Rule

Hidenori Ohishi; Yutaka Maeda

doi:10.11499/sicep.2002.0.694.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.694.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Tracking Control for Robot Arm Using Neural Network with Simultaneous Perturbation Learning Rule

Hidenori Ohishi, Yutaka Maeda

著者情報

キーワード: Simultaneous Perturbation, Neural Network, Robot Arm

会議録・要旨集フリー

p. 694

詳細

抄録

We report a tracking control for a robot arm usihg a neuro-controller. We abopted the simultaneous perturbation learning rule for a neuro-controller. The learning rule requires only two values of an error function. Twice operation yield modifying quantities of the weights in the network. Thus the neuro-controller can learn an inverse of robot kinematics. Some simulation results are shown.

責任著者(Corresponding author)

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