Modeling and control of a robot manipulator using neural networks

Modeling and control of a robot manipulator using neural networks

This thesis presents a three-layer neural networks controller suitable for controlling a SCARA robot. A modified feedback error propagation learning algorithm was used to train the multi-layered neural network. A powerful graphical software tool, known as Simulink, was used to build graphical block...

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Bibliographic Details
Main Author: Neo, Heng Soon
Other Authors: Er, Meng Joo
Format: Theses and Dissertations
Published: 2008
Subjects:
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Online Access:http://hdl.handle.net/10356/4932
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Institution: Nanyang Technological University
Description
Summary:This thesis presents a three-layer neural networks controller suitable for controlling a SCARA robot. A modified feedback error propagation learning algorithm was used to train the multi-layered neural network. A powerful graphical software tool, known as Simulink, was used to build graphical block diagrams of the entire control system, simulate dynamic response of the system, evaluate system performance and refine the design.

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