The modeling and controller design of an angular servo robot based on the RBF neural network adaptive control

摘要

The structure and control system of the angular servo robot have been proposed in this paper. The main parts of the robot are the body and motion platform. When the robot turns round, the motion platform could keep balance and without an interference from the turning. According to the structure of the robot, Lagrange theorem is chosen to establish the dynamic model through the analysis of kinetic and potential energy. Then the controller based on the RBF neural network adaptive controller is designed. It is simulated by the Matlab software in order to ensure the effectiveness and reasonableness. After the simulation, we could sure the controller is reasonable and effective. The system could achieve the desired objectives after a very short time.