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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
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.
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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
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