mdh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Design and implementation of controller for robotic manipulators using Artificial Neural Networks
Mälardalen University, School of Innovation, Design and Engineering. (Robotics)
2009 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis a novel method for controlling a manipulator with arbitrary number of Degrees of freedom is proposed, the proposed method has the main advantages of two common controllers, the simplicity of PID controller and the robustness and accuracy of adaptive controller. The controller architecture is based on an Artificial Neural Network (ANN) and a PID controller.

The controller has the ability of solving inverse dynamics and inverse kinematics of robot with two separate Artificial Neural Networks. Since the ANN is learning the system parameters by itself the structure of controller can easily be changed to

improve the performance of robot.

The proposed controller can be implemented on a FPGA board to control the robot in real-time or the response of the ANN can be calculated offline and be reconstructed by controller using a lookup table. Error between the desired trajectory path and the path of the robot converges to zero rapidly and as the robot performs its tasks the controller learns the robot parameters and generates better control signal. The performance of controller is tested in simulation and on a real manipulator with satisfactory results.

Place, publisher, year, edition, pages
2009. , p. 65
Keywords [en]
robotics, manipulator, control, ANN, artificial neural networks
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-6297OAI: oai:DiVA.org:mdh-6297DiVA, id: diva2:224126
Presentation
(English)
Uppsok

Supervisors
Examiners
Available from: 2009-06-17 Created: 2009-06-16 Last updated: 2009-06-17Bibliographically approved

Open Access in DiVA

fulltext(7874 kB)610 downloads
File information
File name FULLTEXT01.pdfFile size 7874 kBChecksum SHA-512
15b0781e162c8201978568f9ed18cb2ddfa8c933e6b664d75cd6bb0046ccad2c0d6ed0a9473873cb9c09612ba14602ed8d79bcaef3d0a855922c3a28b6e869ff
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Chamanirad, Mohsen
By organisation
School of Innovation, Design and Engineering
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 610 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 563 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf