Comparison of the adaptive and neural network control for LWR 4+ manipulators: simulation study
|Journal series||Archive of Mechanical Engineering, [Archiwum Budowy Maszyn], ISSN 0004-0738, e-ISSN 2300-1895|
|Publication size in sheets||0.5|
|Keywords in English||adaptive control, neutral network control, redundant manipulator|
|Abstract in original language||This 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.|
|Score||= 20.0, 22-07-2020, ArticleFromJournal|
|Publication indicators||= 0; : 2018 = 0.69|
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