Adaptive neural network control of tendon-driven mechanisms with elastic tendons (Q1400926)

The authors propose an adaptive control and an adaptive neural network control (composed of two RBF neural components and one adaptive component) for tendon-driven robotic mechanisms with elastic tendons. These controllers can be applied to serial or parallel tendon-driven manipulators having linear or nonlinear elastic tendons. Moreover, the authors also prove the stability of the adaptive neural network system and report on the results of numerical simulations and experimental results performed using a 2-DOF tendon-driven mechanism having six elastic tendons.