Robot trajectory control using neural networks

Abstract

The use of a new type of neural network (NN) for controlling the trajectory of a robot is discussed. A control system is described which comprises an NN-based controller and a fixed-gain feedback controller. The NN-based controller employs a modified recurrent NN, the weights of which are obtained by training another NN to identify on-line the inverse dynamics of the robot. The work has confirmed the superiority of the proposed NN-based control system in rejecting large disturbances.