Record ID

WUT54480777ce844f7a98033e9433dac010

Author

Łukasz Woliński Łukasz Woliński,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)

Journal series

Archive of Mechanical Engineering, ISSN 0004-0738, e-ISSN 2300-1895

Issue year

2020

Vol

vol. 67

No

No 1

Pages

111-121

Publication size in sheets

0.50

Keywords in English

adaptive control, neutral network control, redundant manipulator

ASJC Classification

2210 Mechanical Engineering; 2211 Mechanics of Materials

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.

DOI

DOI:10.24425/ame.2020.131686 Opening in a new tab

Language

(en) English

Score (nominal)

70

Score source

journalList

Score

Ministerial score = 70.0, 13-12-2021, ArticleFromJournal

Publication indicators

WoS Citations = 1; Scopus SNIP: 2018 = 0.690

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