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Title: Modelling and Position Control of Flexible Manipulator Using Artificial Neural Networks
Authors: Subudhi, B
Karnachi, N
Dutton, K
Keywords: Artificial Neural Network
Flexible Manipulator
Tip Position
Model Reference Control
Issue Date: 2001
Citation: Proceedings of the 2001 WSES NNA International Conference, Spain, pp.4561-4566
Abstract: Complexities of modelling and control of flexible manipulator system is very complex owing to the link vibrations. This paper presents modelling and control of a flexible link manipulator using Artificial Neural Networks (ANN). A feedforward multi-layer network architecture has been trained to learn the dynamical behaviour of the flexible manipulator system. Then a model reference neuro-controller has been proposed for the tip position control of the flexible manipulator
Description: Copyright for this article belongs to the proceedings publisher
Appears in Collections:Conference Papers

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