An Experiment in Neuro-Computed Torque Control of a Geared , DC Motor Driven Industrial Robot

Abstract

Efficient control of robotic manipulators is an important industrial problem, and this paper proposes the use of artificial neural networks as a possible solution. The computed torque control scheme in particular is examined, and neural networks are used for the task of modelling the robotic manipulators. This scheme is applied to a two axis robot, whose… (More)

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