Adaptive Neural Control of Flexible-Joint Robots Considering Motor Dynamics

모터 동력학식을 고려한 유연 연결 로봇의 적응 신경망 제어

In this paper, we propose an adaptive neural control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. The dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. Simulation results for three-link electrically driven flexible-joint (EDFJ) manipulators are provided to validate the effectiveness of the proposed control system.