Control of flexible joint robots using neural networks

Krikochoritis, TE; Tzafestas, SG

dc.contributor.author	Krikochoritis, TE	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T01:16:14Z
dc.date.available	2014-03-01T01:16:14Z
dc.date.issued	2001	en
dc.identifier.issn	02650754	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13997
dc.subject	Dynamic neural networks	en
dc.subject	Feedback linearization technique	en
dc.subject	Flexible joint robots	en
dc.subject.other	Actuators	en
dc.subject.other	Dynamics	en
dc.subject.other	Feedback control	en
dc.subject.other	Flexible manipulators	en
dc.subject.other	Linearization	en
dc.subject.other	Neural networks	en
dc.subject.other	Nonlinear control systems	en
dc.subject.other	Controller design	en
dc.subject.other	Flexible joint robots	en
dc.subject.other	Control system synthesis	en
dc.title	Control of flexible joint robots using neural networks	en
heal.type	journalArticle	en
heal.identifier.primary	10.1093/imamci/18.2.269	en
heal.identifier.secondary	http://dx.doi.org/10.1093/imamci/18.2.269	en
heal.publicationDate	2001	en
heal.abstract	The objective of this paper is to present a new controller design for robot manipulators with elastic joints. The model, which is used to represent the dynamics of elastic joint manipulators, is derived under two assumptions regarding the dynamic coupling between the actuators and the links. This model is useful for cases where the elasticity in the joints represents the dominant dynamic characteristic, and especially when it is of greater significance than gyroscopic interactions between the motors and the links. The analysis of the problem is based on results in nonlinear control theory and particularly on the feedback linearization technique, and the controller design is achieved using dynamic neural networks.	en
heal.journalName	IMA Journal of Mathematical Control and Information	en
dc.identifier.doi	10.1093/imamci/18.2.269	en
dc.identifier.volume	18	en
dc.identifier.issue	2	en
dc.identifier.spage	269	en
dc.identifier.epage	280	en