End-effector trajectory control in a two-link flexible manipulator through reference joint angle values modification by neural networks
Yükleniyor...
Dosyalar
Tarih
2006-02
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Sage Publications
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
The basic difficulty in the control of flexible link manipulators stems from the fact that the link deflections cannot be controlled directly. Since the number of control inputs, applied by the actuators, is less than the total number of variables to be controlled, control approaches aiming at the suppression of deflections and vibrations are generally insufficient. Another possible approach is to determine new joint trajectories to minimize the error of the end-effector in the operational space. In this paper, a neural network is designed to compute incremental changes for the reference values of the joint angles to achieve successful tip tracking in the operational space. Tip position errors in the x- and y-directions are utihzed as inputs to the neural network. The cost function, which is minimized in training the neural network, is also chosen as the sum of squares of the tip position error in both directions. Joint angle control is provided by a PD controller. Simulations are carried out to evaluate the performance of the neural-network-based trajectory tracking method, and the results are depicted in both joint and operational spaces.
Açıklama
Anahtar Kelimeler
Flexible link manipulators, Neural network, Trajectory control, End-effector position, Stability analysis, Kinematics, Gravity, Robots, Actuators, Computer simulation, Control equipment, End effectors, Neural networks, Trajectories, Manipulators
Kaynak
Journal of Vibration and Control
WoS Q Değeri
Q2
Scopus Q Değeri
Q2
Cilt
12
Sayı
2
Künye
Öke, G. & İstefanopulos, Y. (2006). End-effector trajectory control in a two-link flexible manipulator through reference joint angle values modification by neural networks. Journal of Vibration and Control, 12(2), 101-117. doi:10.1177/1077546306059319
