Neural Networks For Robot Control

Abstract

This report results from a contract tasking Lebanese University-Faculty of Engineering, Section I as follows: The proposed research consists of the following: (a) Application of artificial neural networks (multi-layer perceptrons, MLPs) for 2D planar robot arm by using the dynamic backpropagation methods for the adjustment of parameters; and optimization of the architecture; (b) Application of artificial neural networks in controlling closed-loop 2D planar robot arm and comparison with the use of proportional-integral-differential (PID) controllers. The results should create a basis for a further research program connecting the fundamental knowledge with practical applications that can subsequently include: (1) Theoretical and experimental studies in controlling dynamic robot arms by using neural networks in real-time process; (2) Research of optimal architectures used in closed-loop systems in order to compare with adaptive and robust control.

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Document Details

Document Type
Technical Report
Publication Date
Apr 17, 2001
Accession Number
ADA392265

Entities

People

  • Chaiban Nasr

Organizations

  • Lebanese University

Tags

Communities of Interest

  • Energy and Power Technologies
  • Space

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence Computing
  • Artificial Intelligence Software
  • Closed Loop Systems
  • Computing System Architectures
  • Control Systems
  • Control Systems Engineering
  • Dynamics
  • Engineering
  • Mechanical Engineering
  • Momentum
  • Neural Networks
  • Potential Energy
  • Robotics
  • Robots
  • Simulations
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Neural Network Machine Learning.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • AI & ML - Neural Networks
  • Autonomy
  • Autonomy - Autonomous System Control