Neural Network Based Controller for Visual Servoing of Robotic Hand Eye System
نویسندگان
چکیده
(FFNN) is used to compensate for the robot dynamics. The FFNN computes the required torques to drive the robot manipulator to achieve desired tracking. The stability of combined PI kinematic and FFNN computed torque is proved by Lyapunov theory. Simulation results are carried out for 3 DOF articulated robot manipulator to evaluate the controller performance.
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ورودعنوان ژورنال:
- Engineering Letters
دوره 14 شماره
صفحات -
تاریخ انتشار 2007