Neural-network-based two-loop control of robotic manipulators including actuator dynamics in task space  

作　　者：Liangyong WANG Tianyou CHAI Zheng FANG 

机构地区：[1]Key Laboratory of Integrated Automation of Process Industry, Northeastern University, Shenyang Liaoning 110004, China [2]Research Center of Automation, Northeastern University, Shenyang Liaoning 110004, China

出　　处：《控制理论与应用（英文版）》2009年第2期112-118,共7页

基　　金：supported by the National Basic Research Program of China (973 Program) (No.2009CB320601);National Natural Science Foundationof China (No.60534010);the Funds for Creative Research Groups of China (No.60521003);the 111 Project (No.B08015)

摘　　要：A neural-network-based motion controller in task space is presented in this paper. The proposed controller is addressed as a two-loop cascade control scheme. The outer loop is given by kinematic control in the task space. It provides a joint velocity reference signal to the inner one. The inner loop implements a velocity servo loop at the robot joint level. A radial basis function network （RBFN） is integrated with proportional-integral （PI） control to construct a velocity tracking control scheme for the inner loop. Finally, a prototype technology based control system is designed for a robotic manipulator. The proposed control scheme is applied to the robotic manipulator. Experimental results confirm the validity of the proposed control scheme by comparing it with other control strategies.A neural-network-based motion controller in task space is presented in this paper. The proposed controller is addressed as a two-loop cascade control scheme. The outer loop is given by kinematic control in the task space. It provides a joint velocity reference signal to the inner one. The inner loop implements a velocity servo loop at the robot joint level. A radial basis function network （RBFN） is integrated with proportional-integral （PI） control to construct a velocity tracking control scheme for the inner loop. Finally, a prototype technology based control system is designed for a robotic manipulator. The proposed control scheme is applied to the robotic manipulator. Experimental results confirm the validity of the proposed control scheme by comparing it with other control strategies.

关 键 词：Robotic manipulator Motion control Neural network Task space 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG439.3[自动化与计算机技术—控制科学与工程]