Performance of two neuro controllers for robot path planning control
In this paper, two neuro-controllers utilizing the backpropagation algorithm are investigated for robot path tracking performance: inverse neuro-controller and neuro-emulator neuro-controller schemes. For a given task of moving a robot from a rest position to a final specified position in a minimum-...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
1996
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/1979/1/Amin1996_PerformanceOfTwoNeuroControllersFor.pdf http://eprints.utm.my/id/eprint/1979/ |
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| Institution: | Universiti Teknologi Malaysia |
| Language: | English |
| Summary: | In this paper, two neuro-controllers utilizing the backpropagation algorithm are investigated for robot path tracking performance: inverse neuro-controller and neuro-emulator neuro-controller schemes. For a given task of moving a robot from a rest position to a final specified position in a minimum-time, the resulting position and velocity profiles for the investigated neuro-control models showed that, the manipulator could be moved smoothly and accurately. The tracking performance and accuracy are investigated and compared |
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