Model of adaptive neural control circuit of nonlinear dynamic systems of a manipulating robot

Yan Zhengjie, Rostov Nikolay Vasilievich

The article discusses the features of manipulation robot control. The scientific foundation of knowledge was formed by the theory of neural network modeling and fuzzy sets. The simulation was carried out on the example of an industrial three-link manipulation robot. Based on the results of the study, the article developed a model of an adaptive neural control scheme for nonlinear dynamic systems of a manipulation robot based on the Elman recurrent network. The algorithm for controlling the rotation of the robot manipulator is also formalized.

Keywords:neural circuit, manipulation robot, movement, turn, obstacles, accuracy.