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IMA Journal of Mathematical Control and Information 2001 18(2):269-280; doi:10.1093/imamci/18.2.269
© 2001 by Institute of Mathematics and its Applications
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Control of flexible joint robots using neural networks

T. E. Krikochoritis1 and S. G. Tzafestas1

1 Intelligent Robotics and Automation Laboratory (IRAL), Department of Electrical and Computer Engineering, National Technical University of Athens, Zographou 15773, Athens, Greece

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.

Keywords: flexible joint robots; feedback linearization technique; dynamic neural networks.


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