Home   >   CSC-OpenAccess Library   >    Manuscript Information
Full Text Available

(478.8KB)
This is an Open Access publication published under CSC-OpenAccess Policy.
Publications from CSC-OpenAccess Library are being accessed from over 74 countries worldwide.
Adaptive Control of a Robotic Arm Using Neural Networks Based Approach
mahdi vaezi, Mohammad Ali Nekouie, Farid Najafi
Pages - 87 - 99     |    Revised - 31-01-2011     |    Published - 08-02-2011
Volume - 1   Issue - 5    |    Publication Date - January / February 2011  Table of Contents
MORE INFORMATION
KEYWORDS
nonlinear multivariable system, neural networks, robotic arm, NARMA-L2 controller, speed trajectory
ABSTRACT
A new neural networks and time series prediction based method has been discussed to control the complex nonlinear multi variable robotic arm motion system in 3d environment without engaging the complicated and voluminous dynamic equations of robotic arms in controller design stage, the proposed method gives such compatibility to the manipulator that it could have significant changes in its dynamic properties, like getting mechanical loads, without need to change designs of the controller.
CITED BY (3)  
1 Salih, D. M., Noor, S. B. M., Hamiruce Merhaban, M., & Kamil, R. M. (2015). Wavelet Network: Online Sequential Extreme Learning Machine for Nonlinear Dynamic Systems Identification. Advances in Artificial Intelligence, 2015.
2 Zacharie, M. (2012). Advanced logistic belief neural network algorithm for robot arm control. Journal of Computer Science, 8(6), 965.
3 Gupta, A., Vig, L., & Noelle, D. C. (2011). A cognitive model for generalization during sequential learning. Journal of Robotics, 2011.
1 Google Scholar 
2 CiteSeerX 
3 Scribd 
4 SlideShare 
5 PdfSR 
1 D.Beldekas. ”Comparative Control of A Nonlinear First Order Velocity System By A Neural Network NARMA Method”. Issn 1392 – 1215 Elektronika Ir Elektrotechnika.2004. Nr. 6(55):1-4, 2004.
2 R.Bishop. “Mechatronics”, Taylor & Francis Group, PP. 129-136 (2006).
3 C.Cox. “Modern Adaptive Control with Neural Networks”. International Conference on Neural Networks Information Processing, Iconip 96, Hong Kong, 1996.
4 M.Haggan. “neural networks design”, PWS publishing company, PP.391-399 (1996).
5 ] S.Hawkins. ” Neural Networks”, Prentice Hall, PP. 130-170 (1999).
6 Hen Yu, Hen. “Handbook of Neural Network Signal Processing”, CRC Press, PP. 34-39, 42-71, 249-267 (2002).
7 M.Koot. “Identification And Control Of The RRR-Robot”. M.Sc thesis, Eindhoven University Of Technology,Serbia, 2001.
8 R.Lippmann. ” An Introduction To Computing With Neural Nets”. IEEE ASSP Magazine: 4-22, 1987.
9 L.Guoping. “Variable Neural Networks for Adaptive Control Of Nonlinear Systems” IEEE Transactions On Systems, Man, And Cybernetics—Part C: Applications And Reviews: 1-3, 1999.
10 L.Marton. “Robust-Adaptive Control of Nonlinear Single variable Mechatronic System”. PhD thesis, Budapest University of Technology And Economics, 2006.
11 H. Mokri. “Real Time Implementation of NARMA Control of a Single Link Manipulator”. American Journal Of Applied Sciences 5 (12): 1642-1649, 2008.
12 G.Moleykutty. “Speed Control of Separately Excited Dc Motor”. PhD Thesis, Multimedia University Melaka Campus, 75450 Melaka, Malaysia, 2008. [13] Narendra. “Identification And Control Of Dynamical Systems Using Neural Networks”. IEEE Transaction of Neural Networks: 4-27, 1990.
13 H.Nijmeijer. “Nonlinear Dynamic Control Systems”. Springer, PP.130-160 (1990)
14 Pandian, Shunmugham. “Model-Based Sliding Mode Control of Underwater Robot Manipulators”. International Journal of Offshore and Polar Engineering (ISSN 1053-5381) Vol. 16, No. 3, September 2006: PP. 210–217, 2006.
15 M.Spong. “Robot Dynamic And Control”, Springer, PP: 61-83,99-153,175-193,231-300 (2004).
16 G.Van Der Zalm. “Discrete-Time Sliding Mode Control of the RRR-Robot” PhD Thesis, Eindhoven University Of Technology, 2003.
Mr. mahdi vaezi
science and research branch of islamic azad university - Iran
m.vaezi7777@gmail.com
Dr. Mohammad Ali Nekouie
KNT technical university - Iran
Dr. Farid Najafi
KNT technical university - Iran