Planar two-link manipulator control with multiple-synapse neural network controller

Presents the position control of a robot manipulator using an artificial neural network. This neural network is based on a neuron model with multiple synapses. The synapses' connective strengths are modified through a selective and cumulative process that resembles an unsupervised learning method. These concepts applied to the position control of the planar two-link manipulator show excellent results.