TCB Publications - Abstract

Patrick van der Smagt and Klaus Schulten. Control of pneumatic robot arm dynamics by a neural network. In Proceedings of the World Congress on Neural Networks, Portland, OR, July 11-15, volume 3, pp. 180-183, 1993.

SMAG93 The trajectory control of a pneumatically driven robot arm resembling a skeletal muscle system is studied. The arm dynamics have been shown to be hysteretic and significantly changing in time due to external influences (Hesselroth et al., IEEE Systems, Man and Cybernetics, in press) thus requiring an adaptive controller. A highly adaptive feedback algorithm is suggested and shown to control accurately trajectory following tasks.

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