Trajectory Control With MPC For A Robot Manipülatör Using ANN Model
Journal Title: International Journal of Modern Engineering Research (IJMER) - Year 2014, Vol 4, Issue 7
Abstract
In this study, in a computer the dynamic motion modelling of manipulator and control of trajectory with an algorithm this has been tested. First after dynamic motion simulation of manipulator has been made MPC Control. The result in this study we can observe that computed torque method gives better results than MPC methods. So in trajectory control it is approved of using computed torque method. In last part of this study the results are estimated forward development are exemined and suggested. The model predictive control (MPC) technique for an articulated robot with n joints is introduced in this paper. The proposed MPC control action is conceptually different with the trajectory robot control methods in that the control action is determined by optimising a performance index over the time horizon. A neural network (NN) is used in this paper as the predictive model.
Authors and Affiliations
Bekir Cirak
Keywords
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