Neural Network Adaptive Inverse Control of Flexible Joint Space Manipulator Considering the Influence of Gravity

Neural Network Adaptive Inverse Control of Flexible Joint Space Manipulator Considering the Influence of Gravity

With the aim of correcting the problem of trajectory tracking control of a flexible joint space manipulator in environments with different gravity, a neural network adaptive inverse control algorithm based on singular perturbation theory is proposed to resist the disturbance caused by system uncerta...

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Bibliographic Details
Main Authors: Shaoqing Li, Lingcong Meng, Kai Fang, Fucai Liu
Format: Article
Language:English
Published: MDPI AG 2024-10-01
Series:Sensors
Subjects:
flexible joint
space manipulator
gravity
RBF neural network
inverse control
Online Access:https://www.mdpi.com/1424-8220/24/21/6942
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