摘要
本文主要研究了利用智能学习方法(CMAC神经网络)获得高品质运动控制的问题,重点解决了CMAC的快速实现问题;用Transputer和CMAC网络构成并行数字控制器,对两关节的直接驱动机器人进行了实验研究,结果表明,CMAC网络学习控制方法是一种有效的和实用的高速高精度运动控制方法,并具有良好的鲁棒性。
In this paper, we discussed a motion controller with high performance by using intelligent learning method(CMAC neural network). The problesm of quick-implementing of CMAC network is solved here. The CMAC networks based on robotic digital parallel controller using Transputer developped are successfully used in high speed moving control of two-joint direct-drive robot.System experimental results demonstrate that CMAC neural network is an effective and robust scheme in high speed and accurate robotic moving control.
出处
《小型微型计算机系统》
CSCD
北大核心
1998年第2期33-37,共5页
Journal of Chinese Computer Systems
基金
上海市自然科学基金