제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.113.1-113
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- 2001
A Robust Control with The Bound Function of Neural Network Structure for Robot Manipulator
- Chul, Ha-In (Pusan National Univ.) ;
- Chul, Han-Myung (Pusan National Univ.)
- Published : 2001.10.01
Abstract
The robust position control with the bound function of neural network structure is proposed for uncertain robot manipulators. The neural network structure presents the bound function and does not need the concave property of the bound function, The robust approach is to solve this problem as uncertainties are included in a model and the controller can achieve the desired properties in spite of the imperfect modeling. Simulation is performed to validate this law for four-axis SCARA type robot manipulators.
Keywords