A Research of BP Neural Network Based on Dynamics for Robot Manipulator

Bo Zhou

doi:10.4028/www.scientific.net/AMR.433-440.3192

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 433-440A Research of BP Neural Network Based on Dynamics...

A Research of BP Neural Network Based on Dynamics for Robot Manipulator

Abstract:

In this paper, a dynamics model basing on the BP algorithm is proposed. The algorithm that can enhance the performance of the adaptability is the combination of torque control and a compensation structure using ANN. Errors are inevitable while the modeling for dynamics of robot manipulator. But they can be compensated by the compensation structure of ANN. The result of simulation shows that the controller can get the performance of trajectory well and the structure of controller is feasible.

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Periodical:

Advanced Materials Research (Volumes 433-440)

Pages:

3192-3195

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.433-440.3192

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Online since:

January 2012

Authors:

Bo Zhou

Keywords:

Artificial Neural Network (ANN), BP Algorithm, Dynamic, Robot

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