Title :
Comments on "A neural network compensator for uncertainties of robotics manipulators"
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
fDate :
4/1/1995 12:00:00 AM
Abstract :
It is shown in this letter that the function of the neural network compensator proposed in the original paper is redundant. Perfect rejection of both structured and unstructured uncertainties in the robot dynamic model can be achieved directly without the compensator.<>
Keywords :
compensation; manipulator dynamics; neural nets; uncertain systems; neural network compensator; robot dynamic model; robotics manipulators; structured uncertainties rejection; unstructured uncertainties rejection; Control systems; Education; Electrons; Manipulator dynamics; Neural networks; Neurofeedback; Robots; Torque; Trajectory; Uncertainty;
Journal_Title :
Industrial Electronics, IEEE Transactions on
