300599: Neural Networks for Robot Control - Advanced Robotics - Engineering Assessment Answer

Internal Code: F_AI_EJEE_CJ

Engineering Assessment Answer

TASK: The aims of this project are: 1. Using the dynamic equations given build a SIMULINK model of the robot that accepts driving torques in robot joints and generates positions and velocities of the robot joints. 2. To implement a computed-torque controller (CTC) in SIMULINK for this robot. 3. To use a neural network controller (NNC) to perform the CTC and implement this NN controller in SIMULINK. Submit a typewritten report (no handwritten report will be accepted/marked), in either word or PDF format, (no more than 15 pages) providing the methodology used, listing of SIMULINK programs (of the robot, the CTC and NNC), example outputs and performance comparison and analysis of the controllers (both CTC and NNC). In particular, the report should address at least the following aspects: 1. Introduction 2. Methods: a. Simulation model of the robot b. CTC methods/equations, controller calculation, and CTC implementation in the simulation c. NNC methods – that including NN structure, training process 3. Results: a. CTC results – controller gains used, simulation results with error comparisons b. NNC results – NN training results (accuracy), NNC controller outcomes with error comparison. 4. Discussions and conclusions 5. Simulation models and programs – you should include these in the report and submit the codes/models in the code submission link.

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