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In this paper, a novel inverse dynamic MIMO NARX model is used for modeling and identifying simultaneously both of joints of the prototype 2-axes PAM robot arm. The contact force variations and highly nonlinear coupling features of both links of the 2-axes PAM system are modeled thoroughly through an inverse neural MIMO NARX model-based identification process using experiment input-output training data. For the first time, the dynamic inverse neural MIMO NARX model of the 2-axes PAM robot arm has been investigated. The results show that the neural inverse dynamic MIMO NARX model trained by back propagation learning algorithm yields outstanding performance and perfect accuracy.
Date of Conference: 14-17 July 2009