A simple alternative to neural network control scheme for robot manipulators

摘要

Recent research results have shown that neural network techniques are effective in compensating highly nonlinear uncertainties in the robot model where computed torque method is used for robot motion control. One excellent work was reported by Ishiguro et. al. (1992). The purpose of this note is to present a simple alternate solution to the same control problem which does not require the use of a neural network. The solution is based on the disturbance rejection technique developed by Hsia (1989-92). Computer simulations show that the alternate control method works better.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>