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A Neural Network Compensation Technique for an Inertia Estimation Error of a Time-Delayed Controller for a Robot Manipulator

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Neural Information Processing (ICONIP 2018)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 11307))

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Abstract

In this paper, a neural network is added to compensate for the deviation error of an estimated inertia matrix of the time-delayed controller for a robot manipulator. The time-delayed control (TDC) method is known as a simple and practical control method for controlling robot manipulators. The previously sampled information is used to cancel uncertainties for the current control using a time- delay. One of the problems of TDC is the constant inertia selected for simplicity and how to deal with the error of the inertia model estimation. In this paper, a neural network is used to compensate for the deviated inertia error. Simulation studies of position tracking control performances of a three link rotary robot are presented.

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References

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Acknowledgements

This work was partially supported by Korea Environmental Industry & Technology Institute and Chungnam National University in 2018.

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Authors and Affiliations

  1. Intelligent Systems and Emotional Engineering (ISEE) Laboratory, Department of Mechatronics Engineering, Chungnam National University, 99 Daehak-ro, Yuseong-gu, Daejeon, 34134, Korea

    Seul Jung

Authors
  1. Seul Jung
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Correspondence to Seul Jung .

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Editors and Affiliations

  1. The Chinese Academy of Sciences, Beijing, China

    Long Cheng

  2. City University of Hong Kong, Kowloon, Hong Kong

    Andrew Chi Sing Leung

  3. Kobe University, Kobe, Japan

    Seiichi Ozawa

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Jung, S. (2018). A Neural Network Compensation Technique for an Inertia Estimation Error of a Time-Delayed Controller for a Robot Manipulator. In: Cheng, L., Leung, A., Ozawa, S. (eds) Neural Information Processing. ICONIP 2018. Lecture Notes in Computer Science(), vol 11307. Springer, Cham. https://doi.org/10.1007/978-3-030-04239-4_30

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  • DOI: https://doi.org/10.1007/978-3-030-04239-4_30

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-04238-7

  • Online ISBN: 978-3-030-04239-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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