Título: Implementação Em Hardware De Um Controlador Neural Para Robô
Autores: Corrêa, Ghilson R.; Teixeira, Edilberto P.; Faria, Elmo B.
Resumo: This paper presents the implementation of a neural controller applied for controlling a six joint robot. The Neural network is used as a nonlinear compensator for the dinamic system. A new control scheme was developed using the neural network to estimate the computed torque functions. The system was implemented using three PIC microcontrollers and a pentium computer. The details of the hardware and software design are presented including the laboratory results.
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Páginas: 6
Artigo em pdf: 4cbrn_084.pdf
Arquivo BibTex: 4cbrn_084.bib