Tracking Control Based on Neural Network for Robot Manipulator

  • Murat Sonmez
  • Ismet Kandilli
  • Mehmet Yakut
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3949)


In this paper, a control algorithm based on neural networks is presented. This control algorithm has been applied to a robot arm which has a highly nonlinear structure. The model based approaches for robot control require high computational time and can result in a poor control performance, if the specific model structure selected does not properly reflect all the dynamics. The control technique proposed here has provided satisfactory results. A decentralized model has been assumed here where a controller is associated with each joint and a separate neural network is used to adjust the parameters of each controller. Neural networks have been used to adjust the parameters of the controllers, being the outputs of the neural networks, the control parameters.


Neural Network Tracking Error Robot Manipulator Neural Network Control Neural Network Weight 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Murat Sonmez
    • 1
  • Ismet Kandilli
    • 2
  • Mehmet Yakut
    • 1
  1. 1.Electronics and Telecommunication DeptKocaeli UniversityKocaeliTurkey
  2. 2.Industrial Electronics Dept.Kocaeli UniversityKocaeliTurkey

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