Narma-L2 controller for single link manipulator
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Dosyalar
Tarih
2018-09-30
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Attribution-NonCommercial-ShareAlike 3.0 United States
Attribution-NonCommercial-ShareAlike 3.0 United States
Özet
All robotic systems require operating with minimum position error. The single link manipulator used in robotic applications is a nonlinear system for control algorithms. In this study, a single link manipulator system consists of dc motor, reducer gearbox and robot arm is controlled by using a modern control method known as NARMA-L2 controller. The system is analyzed via MATLAB / Simulink environment for various reference position angles. The load torque of the manipulator is taken into consideration by reducing to the motor side due to the gear ratio conversion ratio. The results show that the reference position angle is tracked by having a low error. In this work, satisfactory results are obtained by using NARMA-L2 controller for a single link manipulator.
Açıklama
Anahtar Kelimeler
DC Motor, NARMA-L2 Controller, Neural Networks, Robot Arm
Kaynak
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
Sayı
Künye
Çelikel, R., Aydoğmuş, Ç. (2018). Narma-L2 controller for single link manipulator. 2018 International Conference on Artificial Intelligence and Data Processing (IDAP), 28-30 Sept. 2018, Malatya, Turkey. https://doi.org/10.1109/idap.2018.8620842
