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This paper addresses the issue of trajectory tracking control based on a neural network controller for industrial manipulators. A new control scheme is proposed based on neural network technology and linear feedback approach for tracking a planned trajectory. The control system is established with two parallel subsystems designed separately. One is a linear controller based on state feedback with...
This paper presents kinematic analysis of the end-effector position errors of flexible robot manipulators. The analysis gives kinematic fundamentals for their trajectory control. The end-effector position errors due to the link flexibility cannot be controlled directly but can be compensated only indirectly by the joint angles or displacements. The compensation, however, is sometimes impossible if...
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