Integration of a robust trajectory planner with a feedforward neural controller for robotic manipulators
Farrokh Janabi‐Sharifi, H.H.H. Fahry, W.J. Wilson · 2002
This paper deals with the integration of a real-time trajectory planner and neural network (CMAC) based controller with on-line learning for robotic manipulators in the presence of obstacles. The effectiveness of the integrated system is verified by simulations for the first two links of the Adept-One robot.>