PARAMETRIC CONTROL DEVICE

摘要

An adaptive control system for mechanical and dynamic systems being transferred from an initial to a desired final state by control devices. The control system comprises an adaptive contraller (e. g. in the form of an artificial neural network) for providing scaling parameters p, from inputs to the controller of coordinates for desired final and initial states, to a function generator which provides prototypical time functions scaled by the above parameters, those signals being provided directly via connections to the control devices which generate the required control signals. The adaptive control system may be used for a robotic manipulator having a number of rigid links interconnected by joints, the links being moveable by actuators. The manipulator's Kinematics and Dynamics, including joint interaction effects, are taken into account by this adaptive control system and it controls a manipulator's movements without the need for any real-time feedback circuity or any explicit calculations of inverse kinematics or inverse dynamics.