Control of flexible joint robots using neural networks (Q2729612)
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scientific article; zbMATH DE number 1623077
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Control of flexible joint robots using neural networks |
scientific article; zbMATH DE number 1623077 |
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Control of flexible joint robots using neural networks (English)
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27 June 2002
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trajectory tracking
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flexible joint robotic manipulator
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feedback linearization
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neural network model
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A joint trajectory tracking problem is studied in this paper for a single link, flexible joint robotic manipulator. A standard controller is designed based on the technique of static feedback linearization. A neural network model of the robot dynamics has been implemented, along with neural network realizations of the feedback transformations. The performance of the whole system is illustrated by computer simulations.
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