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적응 뉴로 제어기법을 이용한 로봇 핸드관절의 실시간 제어
신창록(Chang-Rok Shin),이우송(Woo-Song Lee),김용태(Yong-Tae Kim),안종국(Jong-Gok Ann),한성현(Sung-Hyun Han) 한국생산제조학회 2005 한국공작기계학회 추계학술대회논문집 Vol.2005 No.-
In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot hand joints. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuno control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.
적응 뉴로 제어기법을 이용한 로봇 핸드관절의 실시간 제어
신창록(Chang-Rok Shin),이우송(Woo-Song Lee),김용태(Yong-Tae Kim),안종국(Jong-Gok Ann),한성현(Sung-Hyun Han) 한국생산제조학회 2005 한국생산제조시스템학회 학술발표대회 논문집 Vol.2005 No.10
In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot hand joints. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuno control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.