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�������պ����ѧѧ�� 2002, Vol. 28 Issue (3) :316-318    DOI:
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Novel Neural Networks Control Approach of Flexible Manipulators
WU Li-cheng, LU Zhen, YU Shou-qian, ZHENG Hong*
Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation

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Abstract�� A novel neural networks control approach for manipulator with flexible end link was proposed. The manipulator with flexible end link was regarded as two parts: the flexible latter part that includes the last joint and the last link, and the rigid former part that is composed of the rest elements. In the proposed approach, a conventional model-based controller was used to control the rigid former part, a neural network was used to approximate the dynamic anti-model of the flexible latter part. Combined both together, the proposed approach achieved fine control effect in the emulation of a three links planar manipulator with a flexible last link.
Keywords�� robots   neural networks   artificial intelligence     
Received 2000-09-29;
Fund:

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WU Li-cheng, LU Zhen, YU Shou-qian, ZHENG Hong.Novel Neural Networks Control Approach of Flexible Manipulators[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2002,V28(3): 316-318
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