By Topic

Robot trajectory control using neural networks

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Yildirim, S. ; Robotic Res. Lab., Erciyes Univ., Kayseri, Turkey

The use of a new type of neural network (NN) for controlling the trajectory of a robot is discussed. A control system is described which comprises an NN-based controller and a fixed-gain feedback controller. The NN-based controller employs a modified recurrent NN, the weights of which are obtained by training another NN to identify online the inverse dynamics of the robot. The work has confirmed the superiority of the proposed NN-based control system in rejecting large disturbances

Published in:

Electronics Letters  (Volume:38 ,  Issue: 19 )