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Neuro-adaptive control of robotic manipulators

Published online by Cambridge University Press:  09 March 2009

S. Khemaissia  and
A.S. Morris
S. Khemaissia
Affiliation:
Department of Automatic Control and Systems EngineeringUniversity of SheffieldP.O. Box 600Mappin StreetSheffield SI 4DU (UK)
A.S. Morris
Affiliation:
Department of Automatic Control and Systems EngineeringUniversity of SheffieldP.O. Box 600Mappin StreetSheffield SI 4DU (UK)
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Summary

The need to meet demanding control requirements in increasingly complex dynamical control systems under significant uncertainties makes neural networks very attractive, because of their ability to learn, to approximate functions, to classify patterns and because of their potential for massively parallel hardware implementation. This paper proposes the use of artificial neural networks (ANN) as a novel approach to the control of robot manipulators. These are part of the general class of non-linear dynamic systems where non-linear compensators are required in the controller.

Type
Research Article
Information
Robotica , Volume 11 , Issue 5 , September 1993 , pp. 465 - 473
Copyright
Copyright © Cambridge University Press 1993

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