Compact bionic handling arm control using neural networks. Issue 14 (1st July 2014)

• Record Type: Journal Article
• Authors: Melingui, A.; Merzouki, R.; Mbede, J.B.
• Is Part Of: Electronics letters. Volume 50:Issue 14(2014)
• Page Start: 979
• Page End: 981
• Publication Date: 2014-07-01
• Subjects: neurocontrollers -- manipulator dynamics -- position control -- learning (artificial intelligence) -- adaptive control; compact bionic handling arm control -- neural networks -- tip position control -- continuum manipulators -- subcontrollers -- distal supervised learning scheme -- adaptive control -- CBHA robot; Electronics -- Periodicals; 621.381
• DOI: 10.1049/el.2014.1136
• Languages: English
• ISSNs: 0013-5194

Abstract

Abstract : The tip position control of a class of continuum manipulators namely the compact bionic handling arm (CBHA) is proposed. The control scheme includes two sub‐controllers. The first sub‐controller, based on the distal supervised learning scheme, deals with the stationary CBHA's behaviours; whereas the second based on adaptive control handles non‐stationary behaviours. The experimental results obtained using the CBHA robot demonstrate the efficiency of the proposed approach.