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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
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A new stable tracking control scheme for robotic manipulators.

G Feng1

  • 1Sch. of Electr. Eng., New South Wales Univ., Kensington, NSW.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|January 1, 1997
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Summary
This summary is machine-generated.

This study introduces a novel robot control algorithm for precise joint space tracking. The new method enhances stability and performance using a computed torque approach with a compensating neural network controller.

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Area of Science:

  • Robotics
  • Control Systems
  • Artificial Intelligence

Background:

  • Robot control in joint space is crucial for precise motion.
  • Existing methods like computed torque control have limitations.
  • Advanced control strategies are needed for improved tracking performance.

Purpose of the Study:

  • To propose a new tracking control algorithm for robots in joint space.
  • To enhance the stability and tracking accuracy of robotic systems.
  • To integrate a Radial Basis Function (RBF) neural network for advanced compensation.

Main Methods:

  • A novel control algorithm combining computed torque control with a compensating controller.
  • Implementation of the compensating controller using a switch-type structure and an RBF neural network.
  • Analysis of closed-loop system stability and tracking performance using Lyapunov theory.

Main Results:

  • The proposed control algorithm demonstrates enhanced stability for the closed-loop system.
  • Significant improvements in tracking performance are achieved.
  • Simulation results validate the theoretical analysis and effectiveness of the proposed method.

Conclusions:

  • The developed control algorithm effectively addresses robot tracking control challenges in joint space.
  • The integration of RBF neural networks offers a robust approach to enhance control performance.
  • The findings provide a foundation for more sophisticated robot motion control applications.