Trajectory tracking control of A 2-DOF robot arm using neural networks
Dissertant
Thesis advisor
al-Aydi, Hatim Ali
Hadrus, Iyad Abu
University
Islamic University
Faculty
Faculty of Engineering
Department
Electrical Engineering Department
University Country
Palestine (Gaza Strip)
Degree
Master
Degree Date
2014
English Abstract
This thesis investigated several control strategies to handle the trajectory tracking problem for a two degree-of-freedom (2-DOF) robotic arm using artificial neural networks (ANNs).
Feed-forward two layer neural networks were designed and utilized in both model-based and non-model based control structures to conduct online learning and identification of the inverse dynamics of the robotic manipulator and to compensate for both structured and unstructured uncertainties.
The simulation results obtained proved the superiority of the proposed neural network controllers to dramatically reduce the error between the desired and actual position trajectories even in the presence of uncertainties unlike other conventional methods such as the PD-computed torque method.
The neural network-based controllers proposed in this thesis provide solutions to the trajectory tracking problem of robotic manipulators with or without a mathematical model which would make them effective controllers for both planned and unplanned trajectory tracking problems for any degree of freedom robotic manipulator.
The development of the mathematical models for the 2-DOF robotic arm and its joints driving motors as well as their simulation experiments were carried out under the Dynamic Modeling Laboratory (Dymola) environment which uses the Modelica object-oriented multi-domain system modeling language.
The simulation results obtained in the thesis were accompanied by three dimensional (3D) figures in order to visualize the results and to help establish a deeper analysis and understanding of these results.
Main Subjects
Topics
No. of Pages
86
Table of Contents
Table of contents.
Abstract.
Chapter One : Introduction.
Chapter Two : Two degree-of-freedom robotic manipulators.
Chapter Three : PD-computed torque control.
Chapter Four : Artificial neural network (ANN) control.
Chapter Five : Conclusion and future work.
References.
American Psychological Association (APA)
al-Ashi, Mahmud M.. (2014). Trajectory tracking control of A 2-DOF robot arm using neural networks. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-531938
Modern Language Association (MLA)
al-Ashi, Mahmud M.. Trajectory tracking control of A 2-DOF robot arm using neural networks. (Master's theses Theses and Dissertations Master). Islamic University. (2014).
https://search.emarefa.net/detail/BIM-531938
American Medical Association (AMA)
al-Ashi, Mahmud M.. (2014). Trajectory tracking control of A 2-DOF robot arm using neural networks. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-531938
Language
English
Data Type
Arab Theses
Record ID
BIM-531938
