Control of flexible joint robots using neural networks

DOI10.1093/IMAMCI/18.2.269MaRDI QIDQ2729612zbMATH OpenOpenAlexFDO

Authors T. E. Krikochoritis, Spyros G. Tzafestas

Publication date 27 June 2002

Published in IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1093/imamci/18.2.269

zbMATH Keywords

feedback linearizationflexible joint robotic manipulatorneural network modeltrajectory tracking

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Neural networks for/in biological studies, artificial life and related topics (92B20) Linearizations (93B18) Automated systems (robots, etc.) in control theory (93C85)

Review text

A joint trajectory tracking problem is studied in this paper for a single link, flexible joint robotic manipulator. A standard controller is designed based on the technique of static feedback linearization. A neural network model of the robot dynamics has been implemented, along with neural network realizations of the feedback transformations. The performance of the whole system is illustrated by computer simulations.

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(19)

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• Backstepping Control for Flexible Joint with Friction Using Wavelet Neural Networks and L₂‐Gain Approach
• Artificial Intelligence and Soft Computing - ICAISC 2004
• Neural-Network Based Learning Control of Flexible Mechanism With Application to a Single-Link Flexible Arm
• Robust dynamic surface control of flexible joint robots using recurrent neural networks
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• Neural network control of electrically-driven robot based on singular perturbation theory
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• Feedforward control for a manipulator with flexure joints using a Lagrangian neural network
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