Skip to main content

On use of ANNs to model and to control robot manipulators

  • Part V: Robotics, Adaptive Autonomous Agents, and Control
  • Conference paper
  • First Online:
Artificial Neural Networks — ICANN'97 (ICANN 1997)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1327))

Included in the following conference series:

  • 291 Accesses

Abstract

In this paper ANN representation of manipulator's dynamics is described. The ANN dynamics are used in a computed torque controller. Schemas of adopting ANN weights for various payloads are proposed.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Craig J.J., Introduction to Robotics. Cambridge, MIT Press 1981.

    Google Scholar 

  2. Kung S.Y., Hwang J.N., Neural Network Architectures for Robotic Applications, IEEE Trans. on RA, 5 (5), 1989.

    Google Scholar 

  3. Lee S., Bekey G.A., Application of neural networks to robotics, Control and Dynamic Syst., 39, pp. 1–67, 1991.

    Google Scholar 

  4. Miller W.T. et all, Real-Time Dynamic Control of an Industrial Manipulator Using a NN-Based Learning controller, IEEE Trans. on RA, 6 (1), pp. 1–9, 1990.

    Google Scholar 

  5. RISC-RWCP Res. Group, “RISC HYROB: The Hybrid Evolutionary Method and System for Intelligent Robot Control”, Techn. Rep., J. Kepler Univ., Linz, 1994

    Google Scholar 

  6. Spong M., Vidyasagar M., Robot Dynamics and Control. MIT Press 1989.

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Editor information

Wulfram Gerstner Alain Germond Martin Hasler Jean-Daniel Nicoud

Rights and permissions

Reprints and permissions

Copyright information

© 1997 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Dulgba, I., Muszyński, R. (1997). On use of ANNs to model and to control robot manipulators. In: Gerstner, W., Germond, A., Hasler, M., Nicoud, JD. (eds) Artificial Neural Networks — ICANN'97. ICANN 1997. Lecture Notes in Computer Science, vol 1327. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0020258

Download citation

  • DOI: https://doi.org/10.1007/BFb0020258

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-63631-1

  • Online ISBN: 978-3-540-69620-9

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics