Neural network control of a robot manipulator

Neural network control of a robot manipulator

A robot manipulator moves under applied forces and torques coupled with a specific set of dynamic equations. The inverse dynamic equations of a manipulator specify the necessary forces and torques for generating a desired motion. Therefore, we can apply the desired position, velocity and acceleratio...

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Bibliographic Details
Main Author: Liew, Kang Chew.
Other Authors: Er, Meng Joo
Format: Theses and Dissertations
Language:English
Published: 2009
Subjects:
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Online Access:http://hdl.handle.net/10356/19747
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Institution: Nanyang Technological University
Language: English
Description
Summary:A robot manipulator moves under applied forces and torques coupled with a specific set of dynamic equations. The inverse dynamic equations of a manipulator specify the necessary forces and torques for generating a desired motion. Therefore, we can apply the desired position, velocity and acceleration of the manipulator to the inverse dynamic equations to determine the forces and torques required to obtain this motion [2].

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