Decoupling of macro-mini manipulator using adaptive neural networks

Lai, C 2014, 'Decoupling of macro-mini manipulator using adaptive neural networks', in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014), Besancon, France, 8 - 11 July 2014, pp. 898-903.


Document type: Conference Paper
Collection: Conference Papers

Title Decoupling of macro-mini manipulator using adaptive neural networks
Author(s) Lai, C
Year 2014
Conference name AIM 2014
Conference location Besancon, France
Conference dates 8 - 11 July 2014
Proceedings title Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014)
Publisher IEEE
Place of publication United States
Start page 898
End page 903
Total pages 6
Abstract Attaching a small manipulator (mini) with fast dynamic response at the end of a bigger manipulator (macro) with larger workspace leads to the concept of macro-mini manipulator, which is seen as a way to improve the system performance as compared to the macro manipulator acting alone, for example in terms of positioning accuracy. However, cross coupling between the two counterparts could undermine the practicality of the concept. In this paper, an adaptive neural network decoupler is presented to reduce the coupling effect of the macro-mini manipulators, without the need to have a proper dynamic model of the macro, and without alteration to the macro's controller. The stability of the proposed scheme is analyzed through the use of Lyapunov criterion. Simulation results show that by using the proposed neural network decoupler, the positioning accuracy of the macro-mini system can be improved significantly even when the macro manipulator is perturbed by external disturbances.
Subjects Control Systems, Robotics and Automation
Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
Keyword(s) Dynamic response
Intelligent mechatronics
Manipulators
Adaptive neural networks
Coupling effect
Cross-couplings
Decouplers
External disturbances
Fast dynamic response
Lyapunov criterion
Positioning accuracy
DOI - identifier 10.1109/AIM.2014.6878194
Copyright notice © 2014 IEEE
ISBN 9781479957361
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Citation counts: TR Web of Science Citation Count  Cited 2 times in Thomson Reuters Web of Science Article | Citations
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