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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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
id sg-ntu-dr.10356-4932
record_format dspace
spelling sg-ntu-dr.10356-49322023-07-04T15:13:29Z Modeling and control of a robot manipulator using neural networks Neo, Heng Soon Er, Meng Joo School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics 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. Master of Science (Computer Control and Automation) 2008-09-17T10:01:44Z 2008-09-17T10:01:44Z 2000 2000 Thesis http://hdl.handle.net/10356/4932 Nanyang Technological University application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Neo, Heng Soon
Modeling and control of a robot manipulator using neural networks
description 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.
author2 Er, Meng Joo
author_facet Er, Meng Joo
Neo, Heng Soon
format Theses and Dissertations
author Neo, Heng Soon
author_sort Neo, Heng Soon
title Modeling and control of a robot manipulator using neural networks
title_short Modeling and control of a robot manipulator using neural networks
title_full Modeling and control of a robot manipulator using neural networks
title_fullStr Modeling and control of a robot manipulator using neural networks
title_full_unstemmed Modeling and control of a robot manipulator using neural networks
title_sort modeling and control of a robot manipulator using neural networks
publishDate 2008
url http://hdl.handle.net/10356/4932
_version_ 1772826620238757888

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