Effects of the trajectory planning on the model based predictive robotic manipulator control

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 2869, Issue , 2003, Pages 545-552

  Temurtas, Fevzullah ^a   Temurtas, Hasan ^b   Yumusak, Nejat ^a   Oz, Cemil ^a  

^a SAKARYA UNIVERSITY   (Turkey)

^b DUMLUPINAR UNIVERSITY   (Turkey)

Author keywords

[No Author keywords available]

Indexed keywords

FLEXIBLE MANIPULATORS; NEURAL NETWORKS; PREDICTIVE CONTROL SYSTEMS; ROBOT PROGRAMMING; ROBOTICS; TRAJECTORIES;

GENERALIZED PREDICTIVE CONTROL; NEURAL GENERALIZED PREDICTIVE CONTROL; REFERENCE TRAJECTORIES; ROBOTIC MANIPULATOR CONTROLS; ROBOTIC MANIPULATORS; SINGLE INPUT SINGLE OUTPUT; SINUSOIDAL TRAJECTORIES; TRAJECTORY PLANNING;

MANIPULATORS;

EID: 0142215147     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/978-3-540-39737-3_68     Document Type: Article

References (13)

1. Eskandarian, A., Bedewi, N.E., Kramer, B.M., Barbera, A.J.: Dynamics Modeling of Robotic Manip. using An Artificial Neural Net., Journal of Robotic Systems, 11(1) (1994) 41-56
2. De, N.M., Gorez, R.: Fuzzy and Quantitative Model-Based Control System for Robotic Manipulators, International Journal of System Sci., Vol. 24 (1993)
3. Hosogi, S., Watanabe, N., Sekiguchi, M.: A Neural Network Model of the Cerebellum Performing Dynamic Control of a Robotic Manipulator by Learning, Fujitsi Sci. and Technical Journal, Vol. 29 (1993)
4. Oz, C. Phd. Thesis, Sakarya University, Institute of Science, Adapazari (1998)
5. Hu, H., Gu, D., Generalized Predictive Control of an Industrial Mobile Robot, IASTED International Conference, Intelligent Systems And Control, Santa Barbara, California, USA, October 28-30 (1999), 234-240
6. Soloway, D., Haley, P.J.: Neural Generalized Predictive Control: A Newton-Raphson Implementation, Proceedings of the IEEE CCA/ISIC/CACSD, IEEE Paper No. ISIAC-TA5.2 (1996)
7. Soloway, D., Haley, P.J.: Neural Generalized Predictive Control: A Newton-Raphson Implementation, NASA Technical Memorandum 110244, Langley Research Center, Hampton, Virginia (1997)
8. Silver, W. M.: On the Equivalence of Lagrangian and Newton-Euler Dynamics for Manipulators, The International Journal of Robotics Research, Vol. 1(2) (1982) 60-70
9. Lee, C. S. G.: Robot Arm Kinematics- Dynamics, and Control, Computer, Vol. 15 (12) (1982) 62-80
10. Clarke, D.W., Mohtadi, C., Tuffs, P.C.: Generalized Predictive Control - Part 1: The Basic Algorithm, Automatica, Vol. 23 (1987) 137-148
11. Clarke, D.W., Mohtadi, C., Tuffs, P.C. :Generalized Predictive Control - Part 2: The Basic Algorithm, Automatica, Vol.23 (1987) 149-163
12. Haykin, S.: Neural Networks, A Comprehensive Foundation, Macmillan Publishing Company, Englewood Cliffs, N.J. (1994)
13. Seraji, H.: A New Approach to Adaptive Control of Manipulators, Journal of Dynamic Systems, Measurement, and Control, Vol. 109, pp. (1987) 193-202.