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화보<주택>

  • Korea Institute of Registered Architects
    • Korean Architects
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    • v.3 no.5 s.5
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    • pp.9-14
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    • 1968

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Neural Identifier of a Two Joint Robot Manipulator (신경회로망을 이용한 2축 매니퓰레이터 동정화)

  • 이민호;이수영;박철훈
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.21 no.1
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    • pp.291-299
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    • 1996

  • A new identification method using a higher order multilayer neural network is proposed for identifying a complex dynamic system such as a robotic manipulator. The input torque data for learning of the neural identifier are generated for producing effective output trajectories by a minimization process of a specific performance index function which indicates the difference between the reference points and the present joint positions and their velocities of the robotic manipulator. Computer simulation results show that the proposed identification method is very effective for identifying the systems with complex dynamics and large moment of inertia.

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