摘要
An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted. The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors. A nonlinear adaptive control strategy named neural networks based indirect adaptive control (NNIAC) was employed to improve the dynamic performance of the manipulator. The mathematical model of the 4-layered dynamic recurrent neural networks (DRNN) was introduced. The neuro-identifier and the neuro-controller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC. By adjusting the neuro-identifier and the neuro-controller alternatively, the manipulator was controlled on line for achieving the desired dynamic performance. Finally, a planar 3R redundant manipulator with one smart link was utilized as an illustrative example. The simulation results proved the validity of the control strategy.
An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted. The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors. A nonlinear adaptive control strategy named neural networks based indirect adaptive control （NNIAC） was employed to improve the dynamic performance of the manipulator. The mathematical model of the 4-layered dynamic recurrent neural networks （DRNN） was introduced, The neuro-identifier and the neurocontroller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC. By adjusting the neuro-identifier and the neuro-controller alternatively, the manipulator was controlled on line for achieving the desired dynamic performance. Finally. a planar 3R redundant manipulator with one smart link was utilized as an illustrative example. The simulation results proved the validity of the control strategy.
基金
Supported by National Natural Science Foundation of China(No.59975001 and 50205019).
关键词
柔性制造
运动学冗余
主动振动控制
神经网络
自适应控制
flexible manipulators
kinematic redundancy
active vibration control, neural networks
adaptive control
