Intelligent control of a two-link flexible-joint robot, using backstepping, RBF networks, and direct method

被引：0
|
作者：
Chatlatanagulchai, W [1 ]
Meckl, PH [1 ]
机构：
[1] Purdue Univ, Sch Mech Engn, W Lafayette, IN 47907 USA
来源：
PROCEEDINGS OF THE SIXTH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS | 2005年
关键词：
flexible-joint robot; intelligent control; backstepping; radial basis function networks;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We present a state-feedback control of a two-link flexible-joint robot. First, we obtain desired control laws from Lyapunov's second method. Then, we use radial basis function networks (RBFN) to learn unknown parts of the desired control laws. In this way, the control algorithm does not require the mathematical model representing the robot. To show the effectiveness and practicality of this control algorithm, we performed an experiment on one of the robots in our laboratory.
引用
收藏
页码：152 / 157
页数：6
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