Neural-network-based two-loop control of robotic manipulators including actuator dynamics in task space

DOI10.1007/S11768-009-8045-YzbMath1212.93232OpenAlexW2083716438MaRDI QIDQ3573841

Zheng Fang, Leizhen Wang, Tian-You Chai

Publication date: 8 July 2010

Published in: Journal of Control Theory and Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11768-009-8045-y

zbMATH Keywords

neural networkrobotic manipulatormotion controltask space

Mathematics Subject Classification ID

Control/observation systems involving computers (process control, etc.) (93C83) Application models in control theory (93C95) Automated systems (robots, etc.) in control theory (93C85)

Related Items (4)

Robust Saturated PI Joint Velocity Control for Robot Manipulators ⋮ A new bounded kinematic controller for operational space motion of manipulators ⋮ PD with neuro-adaptive compensation control using the signed power function ⋮ Trajectory tracking double two-loop adaptive neural network control for a quadrotor

Cites Work

• Manipulator motion control in operational space using joint velocity inner loops
• A New Feedback Method for Dynamic Control of Manipulators
• Task-space adaptive control of robotic manipulators with uncertainties in gravity regressor matrix and kinematics

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