On adaptive trajectory tracking of a robot manipulator using inversion of its neural emulator

Abstract

This paper is concerned with the design of a neuro-adaptive trajectory tracking controller. The paper presents a new control scheme based on inversion of a feedforward neural model of a robot arm. The proposed control scheme requires two modules. The first module consists of an appropriate feedforward neural model of forward dynamics of the robot arm that… (More)
DOI: 10.1109/72.548168

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