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| 人工神经网络在机械手动力学辨识和位置控制中的应用 | |
| 引用本文： | 陈默子. 人工神经网络在机械手动力学辨识和位置控制中的应用[J]. 机器人, 1993, 0(5) |
| 作者姓名： | 陈默子 |
| 作者单位： | 北京机械工业学院自动化系 北京100085 |
| 摘 要： | 本文提出了用人工神经网络近似机械手的逆动力学模型,实现基于模型的非线性控制方案,并以实际的两臂液压机械手为对象给出了仿真结果,整个方案的实现不需要任何关于系统模型的知识.仿真结果表明所研究的位置控制系统具有良好的跟踪性能,并且展示了人工神经网络解决非线性系统辨识和控制问题的潜力. |
| 关 键 词： | 人工神经网络 逆动力学模型 位置控制 液压机械手 非线性 |
APPLICATION OF ARTIFICIAL NEURAL NETWORKS IN DYNAMIC IDENTIFICATION & POSITION CONTROL OF ROBOT MANIPULATORS |
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| CHEN Mozi. APPLICATION OF ARTIFICIAL NEURAL NETWORKS IN DYNAMIC IDENTIFICATION & POSITION CONTROL OF ROBOT MANIPULATORS[J]. Robot, 1993, 0(5) | |
| Authors: | CHEN Mozi |
| Abstract: | Based on an artificial neural network inverse dynamic model of robot manipulators,a nonlinear model-based control scheme is presented in this paper.The implementation of the whole scheme assumes no anyknowledge of the system.The simulation tests for the two-link hydraulic robot manipulators indicate that theposition control system under consideration has acceptable good tracking performance,and demostrate thatartificial neural networks have potential of solying identification and control problems of nonlinear systems. |
| Keywords: | inverse dynamic model artificial neural network position control hydraulic robot manipulators nonlinear system |
| 本文献已被 CNKI 等数据库收录！ | |