Neural Network Schemes in Cartesian Space Control of Robot Manipulators

Neural Network Schemes in Cartesian Space Control of Robot Manipulators

In this paper we are studying the Cartesian space robot manipulator control problem by using Neural Networks (NN). Although NN compensation for model uncertainties has been traditionally carried out by modifying the joint torque/force of the robot, it is also possible to achieve the same objective b...

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Bibliographic Details
Main Authors: Yiannis S. BOUTALIS, Adrian MOISE, B.G. MERTZIOS
Format: Article
Language:English
Published: Universitatea Dunarea de Jos 2001-12-01
Series:Analele Universităţii "Dunărea de Jos" Galaţi: Fascicula III, Electrotehnică, Electronică, Automatică, Informatică
Subjects:
Manipulation Robot
Neural Network
Cartesian Space Control
Jacobian
Online Access:http://www.ann.ugal.ro/eeai/archives/l6-01.pdf

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