Abstract:
The precise control of robot manipulator to track the desired trajectory is a
very
tedious
job and almost
unachievable
with
the
help
of
conventional controller.
This
task is
achievable to a
certain limit
with
the
help
of
adaptive controllers but
these also have their own limitations of assuming that the systems parameters being controlled change relatively slowly. Many algorithms have been proposed from time to time to minimize this deficiencies.
Interfacing of neural network with the robot manipulator is one of the means
of getting
the
rapid
convergence of actual
trajectory to
the
desired trajectory. In
our work,
we
have
tried to implement the
neural network
in
the adaptive controller
with the help of a neural network to control the robot arm. Results have been compared with the conventional P.D. controllers. A comparative study of neural network based controller without adaptive control and a neural network based controller with adaptive control is also given here
