| 一种机器人的神经网络控制器 |
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| 引用本文： | 蒋岚, 龚为廷. 一种机器人的神经网络控制器[J]. 北京工业大学学报, 1998, 24(4): 76-81. |
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| 作者姓名： | 蒋岚 龚为廷 |
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| 作者单位： | 北京工业大学微机所 |
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| 摘 要： | 提出一种用前馈多层神经网络实现的控制器,此控制器通过学习系统的逆动力学特性,能直接由系统反馈回的输入、输出信息及未来的期望输出,
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| 关 键 词： | 人工神经网络 机器人 控制器 |
| 收稿时间： | 1997-09-01 |
A Neural Network Controller for Robots |
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| Jiang Lan, Gong Weiting. A Neural Network Controller for Robots[J]. Journal of Beijing University of Technology, 1998, 24(4): 76-81. |
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| Authors: | Jiang Lan Gong Weiting |
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| Abstract: | A feedforward multilayered neural network controller is proposed. This controller can learn the inverse of a plant off-line or on-line. It can "associate" the correct control information that is to be put into the plant with the feedback information from input and output of the plant as well as the future output desired.Two links of RM501 robot in realtime are controled by this neural controller in experiments. The experimental results show the controller is satisfactory and has practical value. |
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| Keywords: | artificial neural network robot controller |
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