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Informations générales |
| Auteur |
Alonge, Francesco; D’Ippolito, Filippo |
| Publié |
InTech Open Access Publisher, 2012
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| Abstract |
This paper deals with experimental
comparison between stable adaptive controllers of
robotic manipulators based on Model Based Adaptive,
Neural Network and Wavelet ‐Based control. The above
control methods were compared with each other in
terms of computational efficiency, need for accurate
mathematical model of the manipulator and tracking
performances. An original management algorithm of the
Wavelet Network control scheme has been designed,
with the aim of constructing the net automatically
during the trajectory tracking, without the need to tune
it to the trajectory itself. Experimental tests, carried out
on a planar two link manipulator, show that the
Wavelet‐Based control scheme, with the new
management algorithm, outperforms the conventional
Model‐Based schemes in the presence of structural
uncertainties in the mathematical model of the robot,
without pre‐training and more efficiently than the
Neural Network approach. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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