Int. J. of Intelligent Engineering Informatics   »   2011 Vol.1, No.2

 

 

Title: Control of robot manipulators in task-space under uncertainties using neural network

 

Author: H.P. Singh, N. Sukavanam

 

Addresses:
Department of Mathematics, Indian Institute of Technology, Roorkee, Roorkee – 247667, Uttarakhand, India.
Department of Mathematics, Indian Institute of Technology, Roorkee, Roorkee – 247667, Uttarakhand, India

 

Abstract: In this paper, neural network-based controller is designed for the tracking control of robot manipulators in task-space under uncertainties. Especially, this controller does not need prior information of the upper bound of the unstructured uncertainties. By adaptively estimating the upper bound using feedforward neural network, effects of unstructured uncertainties can be eliminated and asymptotic error convergence can be obtained for the closed-loop system. Simulation results are carried out for a two-link elbow robot manipulator to show the effectiveness of the control scheme.

 

Keywords: robot manipulators; feedforward neural networks; Lyapunov stability; task-space; unstructured uncertainties; intelligent control; robot control; error convergence; robot simulation.

 

DOI: 10.1504/IJIEI.2011.040176

 

Int. J. of Intelligent Engineering Informatics, 2011 Vol.1, No.2, pp.142 - 155

 

Available online: 19 May 2011

 

 

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