An Improved Neural Network Algorithm to Efficiently Track Various Trajectories of Robot Manipulator Arms

An Improved Neural Network Algorithm to Efficiently Track Various Trajectories of Robot Manipulator Arms

The tuning of the robot actuator represents many challenges to follow a predefined trajectory on account of the uncertainties of parameters and the model nonlinearity. Furthermore, the controller gains require proper optimization to achieve good performance. In this paper, the use of a modified neur...

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Bibliographic Details
Main Authors: Mahmoud Elsisi, Karar Mahmoud, Matti Lehtonen, Mohamed M. F. Darwish
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Robot manipulator
nonlinear system
trajectory tracking
PID controller
neural networks
Online Access:https://ieeexplore.ieee.org/document/9324828/

Internet

https://ieeexplore.ieee.org/document/9324828/

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