적응 뉴로 제어기법을 이용한 로봇 핸드관절의 실시간 제어

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot hand joints. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuno control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.