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HomeAdvanced Engineering ForumAdvanced Engineering Forum Vol. 15Computed Torque Control of a Caterpillar Robot...

Computed Torque Control of a Caterpillar Robot Manipulator Using Neural Network

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Abstract:

This paper presents a neural computed torque controller, which employs to a Caterpillar robot manipulator. A description to exert a control method application neural network for nonlinear PD computed torque controller to a two sub-mechanisms Caterpillar robot manipulator. A nonlinear PD computed torque controller is obtained via utilizing a popular computed torque controller and using neural networks. The proposed controller has some advantages such as low control effort, high trajectory tracking and learning ability. The joint angles of two sub-mechanisms have been obtained by using the numerical simulations. The discovered figures show that the performance of the neural computed torque controller is better than a conventional computed torque controller in trajectory tracking and reduction of setting time. Finally, snapshots of gain sequences are demonstrated.

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Advanced Engineering Forum Vol. 15

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Periodical:

Advanced Engineering Forum (Volume 15)

Pages:

106-118

DOI:

https://doi.org/10.4028/www.scientific.net/AEF.15.106

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Online since:

February 2016

Authors:

Mehran Rahmani*, Ahmad Ghanbari

Keywords:

Caterpillar Robot, Computed Torque Controller, Neural Network, Trajectory Tracking

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© 2016 Trans Tech Publications Ltd. All Rights Reserved

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