Two Degrees Of Freedom Manipulator Based On Cmac Neural Network Control

In this paper, a study of a controller of robot-arms with two degrees of .freedom is presented. Firstly, it puts forward the problems in the control of robot with the common methods. Then it proposes a scheme: common controller + CAMC neural network controller. In the end, it introduces the technique to put the whole system into practice.This paper emphasizes on a study of a controller of robot-arms with two degrees of freedom using CAMC-neural network forward-feedback method, and tries to find out whether it's workable for the on-line adjustment of neural network in real time control system. The result of the simulation and the test of the real system certified the effective of the method.This paper fulfills real time control under Windows operation system by writing the driver of interruption.