Adaptive ANN control of robot arm using structure of Lagrange equation

摘要

Several adaptive control algorithms for robot manipulators using artificial neural network (ANN) are considered and an algorithm using physical structure of robot manipulators is proposed. However, the structure of ANN should be modified according to the change of the degree of freedom of the system. In this paper, we propose the algorithm in which the structure of ANN is independent of the degree of freedom and compare it to some other algorithms by simulation and experiment.