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A neural network based feedforward adaptive controller for robots

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3 Author(s)
Carelli, R. ; Univ. Nacional de San Juan, Argentina ; Camacho, E.F. ; Patino, D.

In this paper, an adaptive controller for robot manipulators which uses neural networks is presented. The proposed control scheme is based on PD feedback plus a feedforward compensation of full robot dynamics. The feedforward signal is obtained by summing up the weighted outputs of a set of fixed multilayer neural nets. The controller is adaptive to robot dynamics and payload uncertainties. A stability analysis which takes into account neural network learning errors is included. Simulation results showing the feasibility and performance of the approach are given

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:25 ,  Issue: 9 )