Control of a two-link flexible manipulator using neural networks

被引：1

作者：

Sasaki, Minoru ^{[1
]}

Murasawa, Haruki ^{[1
]}

Ito, Satoshi ^{[1
]}

机构：

[1] Gifu Univ, Fac Engn, Dept Human & Informat Syst Engn, Gifu 5011193, Japan

来源：

ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2 | 2008年 / 6794卷

关键词：

flexible manipulator; control; neural networks; adaptive learning method; inverse dynamics;

D O I：

10.1117/12.784510

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

In this paper, control of a two-link flexible manipulator using neural networks is presented. The neural networks are trained so as to make the error between the root. strain and the desired root strain and the error between the joint angles and the desired joint angles almost zero. In the process, the neural networks learn the inverse dynamics of the system. Also we compared the learning algorithms between conventional back propagation method and adaptive learning method. The numerical results and experimental results show that this NN control system can suppress the vibrations of the flexible manipulator within a short time in comparison with no feedback. Numerical and experimental results for the vibration control of a two-link flexible manipulator are presented and verify that the proposed NN control system is effective at controlling flexible dynamical systems.

引用

页数：6