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역전파 신경회로망에 의한 로봇 팔의 불확실성 보상
Compensation of robot manipulator uncertainties using back propagation neural network

이상재    (현대중공업(주) 중전기사업본부   ); 이석원    (강원대학교 제어계측공학과   ); 남부희    (강원대학교 제어계측공학과  );
  • 초록

    This paper proposes a neural network controller with the computed torque method. The neural network is used not to learn the inverse dynamic model but to compensate the uncertainties of robotic manipulators. When training the neural network, we use the signals present in the proposed controller, which is simpler than that proposed by Ishiguro et al., whose teaching signals of the neural network come from the robot model.


  • 주제어

    nonlinearity .   uncertainty .   computed torque method .   neural nerwork .   robot manipulator.  

  • 참고문헌 (30)

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  • 이 논문을 인용한 문헌 (1)

    1. Lee, Sun ; Lee, Ho-Gil ; Hwang, Sung-Ho ; Rhee, Se-Hun 2001. "Control of Robot System on the Elastic Base by Approximate Jacobian Operators" 한국정밀공학회지 = Journal of the Korean Society of Precision Engineering, 18(10): 45~52     

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