The inverse dynamics problem for a robotic manipulator is to compute the torques needed at the joints to drive it along a given trajectory; it is beneficial to be able to learn this function for adaptive control. A robotic manipulator will often need to be controlled while holding different loads in its end effector, giving rise to a multi-task learning problem. By placing independent Gaussian ...

A control scheme for flexible-link manipulators is advanced which is based on the notion of nonlinear inner–outer factorization. It is well known that the inverse of the forward dynamics map from joint torques to manipulator tip motion is noncausal and cannot be implemented in conjunction with real-time path planning. The methods used here determine causal approximations for the inverse dynamic...

The problem of designing a nonlinear observer for flexible-joint manipulators using a neural network approach is considered in this paper. In the first instance, no a priori knowledge about the system dynamics is assumed in developing the basic structure of the neural observer. The recurrent neural network configuration is obtained by a combination of a multilayer feedforward network and dynami...

This paper presents an algorithm for estimating the dynamics parameters of an N degrees-of-freedom robotic manipulator. In our previous work [SI it was shown that the Newton-Euler model model which is nonlinear in the dynamic parameters can be transformed into an equivalent modif ied model which is linear in dynamic parameters. To introduce our identification algorithm, we cast this modif ied N...

A robust neural control is designed for nonlinear dynamic systems. The objective of this work is to control the motion of the nonlinear system without any knowledge of its dynamics. This method of control requires only the measurement of the system state and its inputs. A Lyapunov function is proposed to ensure the stability of the nonlinear system equipped with the robust neural control. The o...

This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...

Underwater vehicle-manipulator system (UVMS) can be applied to fulfill different complex underwater tasks such as grasping, drilling, sampling, etc. It is widely used in the field of oceanographic research, marine exploration, military, and commercial applications. In this paper, dynamic simulation UVMS presented process grasping an object. First, model UVMS, which considers change load manipul...