Neural-Network-Based Contouring Control for Roboti
2016-08-23
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Neural-Network-Based Contouring Control for Robotic Manipulators in Operational Space
This brief presents a contouring control scheme for robotic manipulators. The geometric properties of the desired contour
are incorporated in the controller design phase, and the resulting controller has been structured as a two-layered hierarchical control scheme that consists of an outer loop and an inner loop. The outer loop is formed by kinematic control system in operational space, which can be designed to assign different dynamics to the tangential, norma
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