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A proposed adaptive neural controller and direct controllers for robot manipulators

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2 Author(s)
Martins, N.A. ; Dept. de Informatica, Univ. Estadual de Maringa, Brazil ; de Alencar, M.

Direct control techniques for robot manipulators in joint space coordinates is provided. Comparison between a proposed adaptive neural controller and direct control techniques (computed-torque and passivity-based controllers) are simulated for the same trajectory, considering the presence of the friction torques. Performances are evaluated according to the behaviour of errors of position tracking, absolute position error, and to trajectory tracking accuracy.

Published in:

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on  (Volume:3 )

Date of Conference:

16-20 July 2003