Universiti Teknologi Malaysia Institutional Repository

Performance of two neuro controllers for robot path planning control

Amin, Shamsudin H. M. and Ahtiwash, O.M. (1996) Performance of two neuro controllers for robot path planning control. Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on , 3 . pp. 1856-1861.

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In this paper, two neuro-controllers utilizing the backpropagation algorithm are investigated for robot path tracking performance: inverse neuro-controller and neuro-emulator neuro-controller schemes. For a given task of moving a robot from a rest position to a final specified position in a minimum-time, the resulting position and velocity profiles for the investigated neuro-control models showed that, the manipulator could be moved smoothly and accurately. The tracking performance and accuracy are investigated and compared

Item Type:Article
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:1979
Deposited By: Dr Zaharuddin Mohamed
Deposited On:20 Mar 2007 00:41
Last Modified:01 Jun 2010 03:00

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