Paper Title:
Electro-Hydraulic Servo Control Based on CMAC Neural Network for Excavating Robot
  Abstract

In this paper the electric-hydraulic servo system for excavating robot is analysed. The kinematic and the dynamic model of working equipment are established. Aim at the electric-hydraulic servo system of the feature with many variables, strong coupling and non-linear, the CMAC neural network was presented combined with popular PD algorithm, which could realize intelligent control for the working equipment of excavating robot. The result of simulation show that control strategy features higher precision and robustness.

  Info
Periodical
Edited by
Shengyi Li, Yingchun Liu, Rongbo Zhu, Hongguang Li, Wensi Ding
Pages
825-830
DOI
10.4028/www.scientific.net/AMM.34-35.825
Citation
Q. L. Dai, H. L. Dai, X. H. Qu, "Electro-Hydraulic Servo Control Based on CMAC Neural Network for Excavating Robot", Applied Mechanics and Materials, Vols. 34-35, pp. 825-830, 2010
Online since
October 2010
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