Adaptive Control of Flexible Redundant Manipulators Using Neural Networks  

作　　者：宋轶民 李建新 王世宇 刘建平 

机构地区：[1]School of Mechanical Engineering, Tianjin University

出　　处：《Transactions of Tianjin University》2006年第6期429-433,共5页天津大学学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(No.59975001 and 50205019).

摘　　要：An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted. The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors. A nonlinear adaptive control strategy named neural networks based indirect adaptive control (NNIAC) was employed to improve the dynamic performance of the manipulator. The mathematical model of the 4-layered dynamic recurrent neural networks (DRNN) was introduced. The neuro-identifier and the neuro-controller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC. By adjusting the neuro-identifier and the neuro-controller alternatively, the manipulator was controlled on line for achieving the desired dynamic performance. Finally, a planar 3R redundant manipulator with one smart link was utilized as an illustrative example. The simulation results proved the validity of the control strategy.An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted. The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors. A nonlinear adaptive control strategy named neural networks based indirect adaptive control （NNIAC） was employed to improve the dynamic performance of the manipulator. The mathematical model of the 4-layered dynamic recurrent neural networks （DRNN） was introduced, The neuro-identifier and the neurocontroller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC. By adjusting the neuro-identifier and the neuro-controller alternatively, the manipulator was controlled on line for achieving the desired dynamic performance. Finally. a planar 3R redundant manipulator with one smart link was utilized as an illustrative example. The simulation results proved the validity of the control strategy.

关 键 词：flexible manipulators kinematic redundancy active vibration control  neural networks adaptive control 

分 类 号：O231[理学—运筹学与控制论]