Cart (Loading....) | Create Account
Close category search window

Model-based path planning and tracking control using neural networks for a robot manipulator

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 $13
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

2 Author(s)
Sangbong Park ; Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea ; Cheol Hoon Park

In this paper, a new method is presented for a path planning and tracking control of a planar robot manipulator in the presence of system uncertainty and obstacles using neural networks combined with the conventional feedback controller. Our path planning provides not only the (sub)optimal trajectory for a given cost function through evolutionary algorithm but also the configurations of the robot manipulator along the path by considering the robot dynamics. The path can be made to keep away from the singular points and avoid the obstacles. An additional neural controller compensates for the tracking errors caused by uncertainty and disturbance, which provides the robustness with a good tracking performance. Computer simulations show the effectiveness of the proposed method

Published in:

Neural Networks,1997., International Conference on  (Volume:3 )

Date of Conference:

9-12 Jun 1997

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.