2P2-G08 Neuro-Control of an Underactuated Manipulator by PSO Learning
Akira ABE, Takuya Sato · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2008
This paper presents a neuro-controller for a two-link manipulator with an unactuated first joint, wherein the motion of the system is confined to a horizontal plane. The control objective is to move the first joint from a given position to a target angle. Radial basis function neural networks (RBFNs) is used as the neuro-controller, and particle swarm optimization (PSO) is adopted for the learning algorithm. The effectiveness of the proposed approach is verified by a comparison of numerical results and experimental ones.