전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제28B권11호
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- Pages.934-940
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- 1991
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- 1016-135X(pISSN)
퍼지논리와 다층 신경망을 이용한 로보트 매니퓰레이터의 위치제어
Position Control of the Robot Manipulator Using Fuzzy Logic and Multi-layer neural Network
초록
The multi-layer neural network that has broadly been utilized in designing the controller of robot manipulator possesses the desirable characteristics of learning capacity, by which the uncertain variation of the dynamic parameters of robot can be handled adaptively, and parallel distributed processing that makes it possible to control on real-time. However the error back propagation algorithm that has been utilized popularly in the learning of the multi-layer neural network has the problem of its slow convergencs speed. In this paper, an approach to improve the convergence speed is proposed using fuzzy logic that can effectively handle the uncertain and fuzzy informations by linguistic level. The effectiveness of the proposed algorithm is demonstrated by computer simulation of PUMA 560 robot manipulator.
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