제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제3권4호
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  • Pages.363-372
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  • 1997
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

적응 학습률을 이용한 신경회로망의 학습성능개선 및 로봇 제어

Improvement of learning performance and control of a robot manipulator using neural network with adaptive learning rate

  • 발행 : 1997.08.01
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초록

In this paper, the design and the implementation of the adaptive learning rate neural network controller for an articulate robot, which is being developed (or) has been developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies hardware structures by the time-division control with TMS32OC31 DSP chip. Proposed neural network controller with adaptive learning rate structure using expert's heuristics can improve learning speed. The proposed controller verifies its superiority by comparing response characteristics of conventional controller with those of the proposed controller that are obtained from the experiments for the 5 axis vertical articulated robot. We, also, present the generalization property of proposed controller for unlearned trajectory and the change of load through experimental data.

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참고문헌

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