Implementation of the Adaptive-Neuro Control of Robot Manipulator Using DSPs(TMS320C50)

DSPs(TMS320C50)를 이용한 로봇 매니퓰레이터의 적응-신경제어기 실현

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.