Novel Neural Networks Control Approach of Flexible Manipulators

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.