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Dynamic sliding PID control for tracking of robot manipulators: theory and experiments

✍ Scribed by Parra-Vega, V.; Arimoto, S.; Yun-Hui Liu; Hirzinger, G.; Akella, P.

Book ID
119820764
Publisher
IEEE
Year
2003
Tongue
English
Weight
757 KB
Volume
19
Category
Article
ISSN
1042-296X

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A simple and effective method for trajectory tracking of robotic manipulator is proposed. The first step is to employ a neural network to learn the characteristics of the inverse dynamics of the robotic manipulator in an off-line manner. Then the neural network is placed in series with the robotic m