Multivariate control of robot using neural networks
Date of Issue2009
School of Electrical and Electronic Engineering
This thesis focuses on the study of the neural network (NN) and its application to robot multi-variable tracking control. A dynamic model of the robot manipulators was discussed. And the derivation of the dynamic equation of a realistic two degree-of-freedom (DOF) direct-drive manipulator will be introduced and finally a discrete-time model is obtained.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Nanyang Technological University