Adaptive neural network control of robot manipulators in task space

@article{Ge1997AdaptiveNN,
  title={Adaptive neural network control of robot manipulators in task space},
  author={Shuzhi Sam Ge and Chang Chieh Hang and L. C. Woon},
  journal={IEEE Trans. Industrial Electronics},
  year={1997},
  volume={44},
  pages={746-752}
}
In this paper, adaptive neural network control of robot manipulators in the task space is considered. The controller is developed based on a neural network modeling technique which neither requires the evaluation of inverse dynamical model nor the time-consuming training process. It is shown that, if Gaussian radial basis function networks are used, uniformly stable adaptation is assured, and asymptotically tracking is achieved. The controller thus obtained does not require the inverse of the… CONTINUE READING
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