Real-Time Control of Robot Manipulators by Neural Networks

Issue title: Real-Time Intelligent Control Systems

Guest editors: E. de PabloGuest Editor, A. JimenezGuest Editor, V. LópezGuest Editor and P. RodríguezGuest Editor

Article type: Research Article

Authors: Li, Yaotong^{; *} | Jiang, Yongshi

Affiliations: Institute of Automation, Chinese Academy of Sciences, P.O. Box 2728, Beijing, China 100080

Correspondence: [*] Author to whom all correspondence should be addressed.

Abstract: This paper describes an innovative approach for real-time kinematic control of robot manipulators by using neural networks. While different approaches in this field have appeared in the literature, this paper shows how control theory can be incorporated into the neural network design so that the quality of the solution can greatly be enhanced and the feasibility for real-time implementation can be achieved. Extensive simulations illustrate the attractive features of this proposed approach.

DOI: 10.3233/ICA-1995-2307

Journal: Integrated Computer-Aided Engineering, vol. 2, no. 3, pp. 241-248, 1995