Experimental results for hybrid stable neurocontrol of a Yaskawa industrial robot

This paper describes experimental results from a study of neurocontrol applied to a Yaskawa industrial robot. We investigate the use of a hybrid control structure that has superior features and improves the approximation and generalization capability of the neurocontroller. The control structure has guaranteed stability. The results show that the technique has rapid learning speed and excellent performance in a wide range of manipulator tasks. The experiments also demonstrate that the control structure is easy to implement in industrial environments