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pendubot system

Robotica (1)

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Control of a robot manipulator and pendubot system using artificial neural networks
Joseph Constantin, Chaïban Nasr, Denis Hamad
Journal:

Robotica / Volume 23 / Issue 6 / November 2005

Published online by Cambridge University Press:

10 November 2005, pp. 781-784
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The paper introduces artificial neural networks for the conventional control of robotic systems for better tracking performance. Different advanced dynamic control techniques are explained and a new second order recursive algorithm has been developed to tune the weights of the neural network. The problem of real-time control of a Pendubot system in difficult situations has been addressed. Examples, such as positioning and balancing structures, are presented and performances are compared to a conventional PD controller.