An intelligent method to estimate the inertia matrix of a robot arm for active force control using on-line neural network training scheme
This paper presents a new intelligent controller algorithm comprising an on-line multi-layer artificial neural network (ANN) training scheme to estimate the inertia matrix of the robot arm to enhance the performance of the active force control (AFC) scheme. The robot under study is a planar two-link...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering,
1999-12.
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| Subjects: | |
| Online Access: | Get fulltext |