신경회로망에 의한 로보트 동역학 제어에 관한 연구

A Study on Dynamic Robot Control by Neural Network

As the dynamics model for industrial robot is a mutural coupling of inertia, centrifugal force, gravity, etc it is very difficult to get solution to the question how it works. To control such complex non-linear features of the manipulator, it is required to develop a lot simpler algorithm on the real time.