Adaptive Neural Trajectory Tracking Control for Flexible-Joint Robots with Online Learning
Shuyang Chen,John T. Wen,Shuyang Chen,John T. Wen
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint dynamics compounds the challenge. In this paper, we present a new control architecture for controlling flexible-joint robots. Our approach uses a multi-layer neural ne...
