Tracking control for robot arm using neural network with simultaneous perturbation learning rule

被引：0
|
作者：
Onishi, H [1 ]
Maeda, Y [1 ]
机构：
[1] Kansai Univ, Suita, Osaka, Japan
来源：
SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 | 2002年
关键词：
simultaneous perturbation; neural network; robot arm;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We report a tracking control for a robot arm using a neuro-controller. We adopted the simultaneous perturbation learning rule for a neuro-controller. The learning rule requires only two values of an error function. Twice operation yield modifying quantities of the weights in the network. Thus the neuro-controller can. learn an inverse of robot kinematics. Some simulation results arc shown.
引用
收藏
页码：3188 / 3191
页数：4
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