JOURNAL OF COMPUTERS (JCP)
ISSN : 1796-203X
Volume : 3    Issue : 8    Date : August 2008

A Neural Network Controller for Trajectory Control of Industrial Robot Manipulators
Zhao-Hui Jiang and Taiki Ishita
Page(s): 1-8
Full Text:
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Abstract
This paper addresses the issue of trajectory tracking control based on a neural network controller
for industrial manipulators. A new control scheme is proposed based on neural network technology
and linear feedback approach for tracking a planned trajectory. In detail, the control system is
designed with two parallel subsystems designed separately. One is a linear controller, and another
one is neural network controller. The former is designed for trajectory tracking error regulation, the
later for force/torque generation required by the designed dynamic trajectory. A leaning law for online
weight updating of the neural network controller is derived based on simplified dynamic model of
the robot. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application
example for trajectory tracking control experiments. Simulations and experiments are carried out on
AdeptOne robot. From the simulation and experimental results, the effectiveness and usefulness of
the proposed control system are confirmed.

Index Terms
robot manipulator, trajectory control, neural network controller