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Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators

The design of a decentralized controlling law in the coordinated transportation area of an object by multiple robot manipulators employing implicit communication between them is a specific alternative in synchronization problems. A decentralized controller is presented in this work which is combinat...

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Main Authors: Esmaili, Parvaneh, Haron, Habibollah
Format: Article
Published: Springer Verlag 2014
Subjects:
QA75 Electronic computers. Computer science
Online Access:http://eprints.utm.my/id/eprint/51925/
http://dx.doi.org/10.1007/978-3-319-05476-6_48
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spelling my.utm.519252018-11-09T08:29:52Z http://eprints.utm.my/id/eprint/51925/ Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators Esmaili, Parvaneh Haron, Habibollah QA75 Electronic computers. Computer science The design of a decentralized controlling law in the coordinated transportation area of an object by multiple robot manipulators employing implicit communication between them is a specific alternative in synchronization problems. A decentralized controller is presented in this work which is combination of the sliding mode control and artificial neural network which guarantees robustness in the system. Implicit communication among robot manipulators considers the light weight beam angle in this controller. A multi layer feed forward neural network based prediction model is presented not only to improve trajectory tracking of multiple robots but also to solve the chattering phenomena in the sliding mode control. The simulation results show the effectiveness of the proposed controller on two cooperative PUMA 560 robot manipulators. Springer Verlag 2014 Article PeerReviewed Esmaili, Parvaneh and Haron, Habibollah (2014) Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators. Intelligent Information and Database Systems, Pt 1, 8397 L (Part 1). pp. 474-483. ISSN 1611-3349 http://dx.doi.org/10.1007/978-3-319-05476-6_48
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic QA75 Electronic computers. Computer science
spellingShingle QA75 Electronic computers. Computer science
Esmaili, Parvaneh
Haron, Habibollah
Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators
description The design of a decentralized controlling law in the coordinated transportation area of an object by multiple robot manipulators employing implicit communication between them is a specific alternative in synchronization problems. A decentralized controller is presented in this work which is combination of the sliding mode control and artificial neural network which guarantees robustness in the system. Implicit communication among robot manipulators considers the light weight beam angle in this controller. A multi layer feed forward neural network based prediction model is presented not only to improve trajectory tracking of multiple robots but also to solve the chattering phenomena in the sliding mode control. The simulation results show the effectiveness of the proposed controller on two cooperative PUMA 560 robot manipulators.
format Article
author Esmaili, Parvaneh
Haron, Habibollah
author_facet Esmaili, Parvaneh
Haron, Habibollah
author_sort Esmaili, Parvaneh
title Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators
title_short Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators
title_full Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators
title_fullStr Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators
title_full_unstemmed Artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators
title_sort artificial neural network based prediction model of the sliding mode control in coordinating two robot manipulators
publisher Springer Verlag
publishDate 2014
url http://eprints.utm.my/id/eprint/51925/
http://dx.doi.org/10.1007/978-3-319-05476-6_48
_version_ 1643653101972881408
score 13.159267

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