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http://hdl.handle.net/2080/523| 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 |
| URI: | http://hdl.handle.net/2080/523 |
| Appears in Collections: | Conference Papers |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| bs-nk-kd-wses-nn01.pdf | 650.75 kB | Adobe PDF | View/Open |
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