Model-based path planning and tracking control using neural networks for a robot manipulator.
Sangbong ParkCheol Hoon ParkPublished in: ICNN (1997)
Keyphrases
- path planning
- tracking control
- robot manipulators
- neural network
- trajectory planning
- control law
- adaptive neural
- control scheme
- tracking error
- nonlinear systems
- motion planning
- mobile robot
- fuzzy neural network
- obstacle avoidance
- fuzzy systems
- dynamic environments
- multi robot
- fuzzy controller
- closed loop
- artificial neural networks
- feed forward
- optimal path
- pid controller
- fuzzy logic
- control strategy
- dynamic model
- fuzzy model
- multilayer perceptron
- lyapunov function
- genetic algorithm
- back propagation
- recurrent neural networks
- adaptive control
- soft computing
- control system
- real time
- configuration space
- neural network model
- degrees of freedom