Control of robotic manipulators—a neural network approach

摘要

A neural-network-based scheme is used for the control of a robotic manipulator. The main idea is that, by using a neural network to learn the characteristics of the robot system (or specifically its inverse dynamics), accurate trajectory following and good performance results are obtained. However, the traditional back-propagation algorithm commonly used for control and identification of nonlinear systems suffers from a slow rate of convergence. We investigate the effect of adusting the slope of the activation function (the node nonlinearity) on the performance of a back-propagation algorithm. It is shown that learning speed is increased significantly by making the slope of non-linearity adaptive. The results demonstrate that the proposed method gives better error minimization and faster convergence. The suggested method is applied to a two-link robotic manipulator. The resulting controller is sufficiently robust with respect to the changing conditions.