Nonlinear robot system identification based on neural network models

This paper addresses the novel issues related to system identification applied to robot manipulators based on the nonlinear functional properties of artificial neural network models. An estimation procedure for the link parameters is described in which identification is carried out using the parallel recursive prediction error technique. The algorithm enables the weights in each neuron of the network to be updated in an efficient parallel manner and has better convergence than the classical back propagation algorithm. The whole of the algorithm can be distributed over a network of parallel processors to achieve impressive speed-up. An example is given for the first three links of the Stanford arm to demonstrate the effectiveness of this algorithm