디지털 시그널 프로세서를 이용한 스카라 로봇의 적응-신경제어기 설계 = Design of Adaptive-Neuro Controller of SCARA Robot Using Digital Signal Processor

다국어 초록 (Multilingual Abstract)

During the past decade, there were many well-established theories for the adaptive control of linear systems, but 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 industrial robot control. Neural network computing methods provide one approach to the development of adaptive and learning behavior in robotic system for manufacturing. Computational neural networks have been demonstrated which exhibit capabilities for supervised learning. matching, and generalization for problems on an experimental scale. supervised learning could improve the efficiency of training an development of robotic systems. In this paper, a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital signal processors is proposed. Digital signal processors, DSPs, are micro-processors that are developed particularly for fast numerical computations involving sums and products of variables. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be an efficient control scheme for implementation of real-time control for SCARA robot with four-axes by experiment.