Proceedings of the KAIS Fall Conference (한국산학기술학회:학술대회논문집)
- 2008.11a
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- Pages.191-196
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- 2008
Design of an Adaptive Output Feedback Controller for Robot Manipulators Using DNP
DNP을 이용한 로봇 매니퓰레이터의 출력 궤환 적응제어기 설계
- Cho, Hyun-Seob (Dept of Digital Broadcast Engineering Chungwoon University)
- 조현섭 (청운대학교 디지털방송공학과)
- Published : 2008.11.27
Abstract
The intent of this paper is to describe a neural network structure called dynamic neural processor(DNP), and examine how it can be used in developing a learning scheme for computing robot inverse kinematic transformations. The architecture and learning algorithm of the proposed dynamic neural network structure, the DNP, are described. Computer simulations are provided to demonstrate the effectiveness of the proposed learning using the DNP.