This paper shows the effectiveness of a neural-network controller for controlling a flexible mechanism such as a flexible robot arm. An adaptive-type direct neural controller is formulated using state-space representation of the dynamics of the target system. The characteristics of the controller are experimentally investigated by using it to control the tip angular position of a single-link flexible arm.

Issue Section:
Technical Briefs
Topics:
Artificial neural networks, Control equipment, Dynamics (Mechanics), Robots
This content is only available via PDF.
Copyright © 1994
 by The American Society of Mechanical Engineers
You do not currently have access to this content.