An approach to adaptive neural control of robot manipulators
V. Etxebarria, Manuel De la Sen · International Journal of Systems Science · 1996
An adaptive neural control scheme for mechanical manipulators is presented. The neural design has been developed basically following adaptive control design principles and taking into account a number of properties that adaptive schemes and neural controllers have in common. The control loop essentially consists of a neural network for learning the robot's inverse dynamics and online generation of the control signal. Some simulation results are provided to evaluate the design.