Abstract
In this paper, a neural network is added to compensate for the deviation error of an estimated inertia matrix of the time-delayed controller for a robot manipulator. The time-delayed control (TDC) method is known as a simple and practical control method for controlling robot manipulators. The previously sampled information is used to cancel uncertainties for the current control using a time- delay. One of the problems of TDC is the constant inertia selected for simplicity and how to deal with the error of the inertia model estimation. In this paper, a neural network is used to compensate for the deviated inertia error. Simulation studies of position tracking control performances of a three link rotary robot are presented.
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Acknowledgements
This work was partially supported by Korea Environmental Industry & Technology Institute and Chungnam National University in 2018.
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Jung, S. (2018). A Neural Network Compensation Technique for an Inertia Estimation Error of a Time-Delayed Controller for a Robot Manipulator. In: Cheng, L., Leung, A., Ozawa, S. (eds) Neural Information Processing. ICONIP 2018. Lecture Notes in Computer Science(), vol 11307. Springer, Cham. https://doi.org/10.1007/978-3-030-04239-4_30
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DOI: https://doi.org/10.1007/978-3-030-04239-4_30
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