Existing industrial robotic manipulators have proven to be limited in many applications, e.g. both their payload capability and manipulation speeds are limited. This paper presents a novel neural adaptive controller-intelligent gain scheduling-(IGS) for robotic manipulators. It advances the idea of mapping the nonlinear relationship between robot working conditions (e.g. payload, speed, etc.) and its controller gains. This scheme is simple, inexpensive, and especially, attractive for its possible implementation in real-time. Simulation has shown promising results.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A novel neural adaptive controller for robots


    Contributors:
    Wang, Q. (author) / Broome, D.R. (author)

    Publication date :

    1994-01-01


    Size :

    6 pages



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Development of a Novel Remote Controller for Interventional Surgical Robots

    Yang, Cheng / Guo, Shuxiang / Guo, Yangming | British Library Conference Proceedings | 2019


    Nonlinear Adaptive Neural Controller for Unstable Aircraft

    S Suresh / S. N. Omkar / V. Mani et al. | AIAA | 2005




    An On-Line Trained Adaptive Neural Controller

    Zhang, Y. / Sen, P. / Hearn, G. E. | British Library Online Contents | 1995