Modeling a Control System for Actuator of Mechanisms of a Robotic System Based on a Neural Network Controller

被引：0

作者：

Porokhnenko, Kseniya A. ^{[1
]}

Belov, Mikhail P. ^{[1
]}

机构：

[1] St Petersburg Electrotech Univ LETI, Chair Robot & Automated Prod Syst, St Petersburg, Russia

来源：

PROCEEDINGS OF THE 2021 IEEE CONFERENCE OF RUSSIAN YOUNG RESEARCHERS IN ELECTRICAL AND ELECTRONIC ENGINEERING (ELCONRUS) | 2021年

关键词：

robotic systems; actuator; manipulator; neural network;

D O I：

10.1109/ElConRus51938.2021.9396654

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The manipulation robot is a complex multidimensional system. Control systems for robots have a number of differences from control systems for other complex production mechanisms. This is due to a large number of separately controlled mechanical axes. To solve these problems, in addition to obtaining a dynamic model of the robot, it is necessary to determine the manipulator control law based on this model, which ensures the required quality. It is proposed to analyze the capabilities of various types of regulators and their combinations in order to obtain a simple and effective law of control of a robot.

引用

页码：1037 / 1039

页数：3