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JSIR Vol.65(09) [September 2006] >


Title: A proposed neural internal model control for robot manipulators
Authors: Yıldırım, Şahin
Keywords: Alopex learning algorithm
Back propagation
Diagonal recurrent network
Feed forward neural network
Internal model control
Recurrent hybrid network
Issue Date: Sep-2006
Publisher: CSIR
IPC CodeB25J9/00; G05B13/04
Abstract: This paper describes the design of a Neural Internal Model Control (NIMC) system for robots, based on Recurrent Hybrid Networks (RHNs). The NIMC, an alternative to the basic inverse control scheme, consists of a forward internal neural model of robot, a neural controller and a conventional feedback controller. An Alopex Learning Algorithm (ALA) was used to adjust weights of the proposed neural network. Backpropagation (BP) algorithm is also employed for comparison. Diagonal Recurrent Networks (DRNs) and Feedforward Neural Networks (FNNs) controllers were used for comparison. The robot in this study was adept one SCARA type robot manipulator.
Page(s): 713-720
ISSN: 0975-1084 (Online); 0022-4456 (Print)
Source:JSIR Vol.65(09) [September 2006]

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