Neural network-based control of balanced robotic manipulators with joint flexibility
โ Scribed by S.B. Lee; H.S. Cho
- Publisher
- Elsevier Science
- Year
- 1991
- Tongue
- English
- Weight
- 993 KB
- Volume
- 1
- Category
- Article
- ISSN
- 0957-4158
No coin nor oath required. For personal study only.
๐ SIMILAR VOLUMES
This paper presents the design of an optimal non-linear position tracking controller for a two-link #exible joint robot manipulator. The controller is designed based on the concept of exact feedback linearization and LQG/LTR techniques. It is shown that the non-linear robot model is feedback lineari
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