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Synthesis of Neural Networks and PID Control for Performance Improvement of Industrial Robots

✍ Scribed by Peter C. Chen; James K. Mills


Book ID
110256657
Publisher
Springer Netherlands
Year
1997
Tongue
English
Weight
523 KB
Volume
20
Category
Article
ISSN
0921-0296

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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