Comparison of the adaptive and neural network control for LWR 4+ manipulators: simulation study

Łukasz Woliński


Author Łukasz Woliński (FPAE / IAAM)
Łukasz Woliński,,
- The Institute of Aeronautics and Applied Mechanics
Journal seriesArchive of Mechanical Engineering, [Archiwum Budowy Maszyn], ISSN 0004-0738, e-ISSN 2300-1895
Issue year2020
Volvol. 67
NoNo 1
Publication size in sheets0.5
Keywords in Englishadaptive control, neutral network control, redundant manipulator
ASJC Classification2210 Mechanical Engineering; 2211 Mechanics of Materials
Abstract in original languageThis paper deals with two control algorithms which utilize learning of their models’ parameters. An adaptive and artificial neural network control techniques are described and compared. Both control algorithms are implemented in MATLAB and Simulink environment, and they are used in the simulation of a postion control of the LWR 4+ manipulator subjected to unknown disturbances. The results, showing the better performance of the artificial neural network controller, are shown. Advantages and disadvantages of both controllers are discussed. The usefulness of the learning algorithms for the control of LWR 4+ robots is discussed. Preliminary experiments dealing with dynamic properties of the two LWR 4+ robots are reported.
Languageen angielski
Score (nominal)20
Score sourcejournalList
ScoreMinisterial score = 20.0, 22-07-2020, ArticleFromJournal
Publication indicators WoS Citations = 0; Scopus SNIP (Source Normalised Impact per Paper): 2018 = 0.69
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