Neural Network Tracking Controls of SCARA Manipulator System

Yongfeng Lv,Yingbo Huang,Xiaolong Wu,Long Jian

2021 33rd Chinese Control and Decision Conference (CCDC)（2021）

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摘要

In this paper, the neural network optimal tracking controller of SCARA manipulator system is designed. First of all, the SCARA manipulator system is modeled, and the reference motion trajectory of the joint is given, and the steady-state control is designed to ensure that the manipulator can keep up with the reference trajectory, but it can not guarantee the various performance in operation. Given...

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关键词

Energy consumption,Tracking,Neural networks,Reinforcement learning,Manipulators,Feedback control,Steady-state

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