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R. Šafarič, K. Jezernik, M. Rodic, A. Sabanoviç, S. Uran
6 18. 3. 1996.

Sliding-mode neural network robot controller

The theoretical development of a trajectory tracking neural network controller based on the theory of sliding-mode controllers is shown in the paper. Derived equations of the neural network controller were verified on a direct drive 2-DOF SCARA mechanism model. The new neural network controller was compared with a neural network controller based on the computed torque method. At last we made an application on a real 2-DOF SCARA robot mechanism by the neural network controller based on the computed torque method and a sliding-mode neural network controller on a real single axis direct drive robotic manipulator driven by an induction motor.


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