Neural network control for direct-drive robot mechanisms

Engineering Applications of Artificial Intelligence

Volumn 11, Issue 6, 1998, Pages 735-745

  Šafarič, Riko ^a   Jezernik, Karel ^a   Pec, Martin ^a  

^a NONE

Author keywords

Applications; Continuous sliding mode; Direct drive robots; Neural network adaptive control

Indexed keywords

ALGORITHMS; CONTROL EQUIPMENT; MANIPULATORS; NEURAL NETWORKS; TRACKING (POSITION); TRAJECTORIES;

DIRECT-DRIVE ROBOTS;

ROBOTS;

EID: 0032316236     PISSN: 09521976     EISSN: None     Source Type: Journal    
DOI: 10.1016/s0952-1976(98)00020-7     Document Type: Article

References (12)

1. Cichocki, A., Unbehauen, R., 1993. Neural Networks for Optimization and Signal Processing. Wiley, Chichester.
2. Craig, J. J., 1988. Adaptive Control of Mechanical Manipulators. Addison-Wesley, New York.
3. Hornik, K., Stinchombe, M., Whiteat, H., 1989. Multilayer Feedforward Networks are Universal Approximators. Neural Networks 2, 359-366.
4. Ishiguro, A., Furuhashi, T., Okuma, Sh, Uchikawa, Y., 1992. A Neural Network Compensator for Uncertainties of Robotics Manipulators. IEEE Trans. Ind. Electron. 39 (6), 555-570..
5. Khemaaissia, S., Morris, A.S., 1993. Neuro-adaptive control of robotic manipulators. Robotica 11, 465-473.
6. Morioka, H., Wada, K., Šabanovič, A., Jezernik, K., 1995. Sliding mode control with estimated equivalent control. Trans. Soc. Instrum. Control Engrs 31 (7), 853-860.
7. Ozaki, T., Suzuki, T., Furuhashi, T., Okuma, Sh, Uchikawa, Y., 1991. Trajectory control of robotic manipulator using neural networks. IEEE Trans. Ind. Electron. 38, 195-202.
8. Slotine, J.E., Li, W., 1988. Adaptive manipulator control: a case study. IEEE Trans. Automat. Control AC-33 (11), 995-1003.
9. Šabanovič, A., 1993. Sliding mode in robotic manipulator control systems. Elektrotehniški vestnik 60 (23), 99-107.
10. Šafarič, R., Jezernik, K., 1994. Trajectory tracking neural network controller for a robot mechanism and Lyapunov theory of stability. In: Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, September 12-16, 1994, Munich, Germany. Piscataway IEEE, 1994, Vol. 1, pp. i1626-1633.
11. Terbuc, M., Jezernik, K., Gotlih, K., 1995. Trajectory control of DD robot. In: Proceedings of the IFAC/Workshop Motion Control, Munich, pp. 718-725.
12. Terbuc, M., Rodič, M., Jezernik, K., 1995. Direktno gnani robotski sistem (Direct Drive Robot System). Zbornik četrte Elektrotehniške konference ERK'95, Zvezek B, Slovenska sekcija IEEE. Portorož, Slovenia, pp. 187-190.