文件列表:

EVector.m (161, 2017-12-01)
Line.m (1107, 2017-12-01)
PZK.m (143, 2017-12-01)
PZS.m (204, 2017-12-01)
errorFirstLayer.m (221, 2017-12-01)
errorLine.m (150, 2017-12-01)
errorSecondLayer.m (181, 2017-12-01)
ozk1.m (209, 2017-12-01)
ozs.m (357, 2017-12-01)
weightsCorrectedFirst.m (193, 2017-12-01)
weightsCorrectedSecond.m (194, 2017-12-01)
Аннотация_Глех_63503_2.docx (13318, 2017-12-01)
Презентация_ГлехЕВ.pdf (1121359, 2017-12-01)

# MLP-controller-two-link-manipulator

MATLAB model: research on using different controllers for correcting trajectory of a robotic arm

Controllers:

• Proportinal;
• Proportonal-integral;
• Fuzzy;
• Neural network (multilayer perceptron).

Kinematics:

• PZK - direct kinematics;
• OZK - inverse kinematics;
• PZS - direct kinematics for velocities;
• OZS - inverse kinematics for velocities.

Neural network:

• weightsCorrectedFirst - correcting weights for the first layer;
• weightsCorrectedSecond - correcting weights for the output layer;
• errorFirstLayer - calculating error for the first layer;
• errorSecondLayer - calculating error for the output layer.

Trajectory:

• errorLine - calculating contour error for the straight line trajectory;
• EVector - calculating [Ex; Ey] components of the contour error;
• Line - generating trajectory;

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