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Intelligent Gain Scheduling (igs) using neural networks for robotic manipulators

Wang, Q; Broome, DR; Greig, AR; (1993) Intelligent Gain Scheduling (igs) using neural networks for robotic manipulators. Proceedings of the Workshop on Neural Network Applications and Tools, NNAT 1993 pp. 103-108. 10.1109/NNAT.1993.586060.

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Abstract

© 1994 IEEE. Existing industrial robotic manipulators have proven to be limited in many applications, especially in their payloads and manipulation speeds. This paper presents an Intelligent Gain Scheduling control scheme using neural networks. It advances the idea of mapping the non-linear relationship between robot working conditions (e.g. payload, speed, etc.) and its controller's gains. The aim of this research is to try to propose an applied robot controller, which is not too expensive, is acceptable to industry and can largely improve the performance of existing robot manipulators. Simulation has shown promising results.

Type: Article
Title: Intelligent Gain Scheduling (igs) using neural networks for robotic manipulators
DOI: 10.1109/NNAT.1993.586060
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: http://discovery.ucl.ac.uk/id/eprint/1525270
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