%0 Journal Article
%T Neural network compensation control of robot computed torque uncertainties<br>机器人计算力矩不确定性的神经网络补偿控制*
%A WANG Dong-shu
%A ZHANG Wen-bing
%A <br>王东署
%A 张文丙
%J 计算机应用研究
%D 2008
%I 
%X This paper proposed a novel control scheme, whick was based on the combination of computed torque control as a feed-forward structure and a neural network as a compensation structure, to improve the computed torque control uncertainties of a pol.ishing robot. The resulting control scheme had a simple structure with enhanced robustness. Since the neuro-compensator had good adaptability, accurate knowledge of both the robot dynamic parameters and structure were not required in advance. Simulation studies on robot trajectory tracking verify the robustness and anti-disturbance capacity of the proposed control method.
%K robot
%K computed torque control
%K neural network
%K robust compensation control<br>机器人
%K 计算力矩控制
%K 神经网络
%K 鲁棒补偿控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=A9D9BE08CDC44144BE8B5685705D3AED&aid=EDE78F4265A6D762570C20BA69F657A5&yid=67289AFF6305E306&vid=C5154311167311FE&iid=0B39A22176CE99FB&sid=84A93BA251D28205&eid=A4E67967A1AB25F0&journal_id=1001-3695&journal_name=计算机应用研究&referenced_num=0&reference_num=7