Abstract
In this paper ANN representation of manipulator's dynamics is described. The ANN dynamics are used in a computed torque controller. Schemas of adopting ANN weights for various payloads are proposed.
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References
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© 1997 Springer-Verlag Berlin Heidelberg
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Dulgba, I., Muszyński, R. (1997). On use of ANNs to model and to control robot manipulators. In: Gerstner, W., Germond, A., Hasler, M., Nicoud, JD. (eds) Artificial Neural Networks — ICANN'97. ICANN 1997. Lecture Notes in Computer Science, vol 1327. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0020258
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DOI: https://doi.org/10.1007/BFb0020258
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