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Model-based compensation and comparison of neural network controllers for uncertainties of robotic arms

โœ Scribed by Ziauddin, S.M.; Zalzala, A.M.S.

Book ID
114449611
Publisher
The Institution of Electrical Engineers
Year
1995
Tongue
English
Weight
621 KB
Volume
142
Category
Article
ISSN
1350-2379

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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