Cooperative Control of Two Direct-Drive Robots Using Neural Networks : Grasping and Movement of an Object

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概要

• 論文の詳細を見る

• A learning control algorithm using neural networks is proposed for grasping and movement of an object by a pair of direct-drive (DD) robots with two degrees of freedom. The proposed algorithm has three feedback controllers and two neural networks. After the completion of learning, the outputs of the feedback controllers are nearly equal to zero, and the two neural networks play an important role in the control system. Therefore, the optimum setting of control parameters is unnecessary. In other words, the proposed algorithm does not necessitate any knowledge of the controlled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the cooperative control of the parallelogram-type DD robots. It is also shown that the force of gravity can be compensated by this algorithm.

• 一般社団法人日本機械学会の論文
• 1994-06-15

著者

• Todo Isao

  Department Of Mechanical Engineering And Materials Science Yokohama National University

• Hwang Yeong

  Department Of Mechanical Engineering And Materials Science Yokohama National University

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• Cooperative Control of Two Direct-Drive Robots Using Neural Networks : Grasping and Movement of an Object

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