An intelligent method to estimate the inertia matrix of a robot arm for active force control using on-line neural network training scheme

An intelligent method to estimate the inertia matrix of a robot arm for active force control using on-line neural network training scheme

This paper presents a new intelligent controller algorithm comprising an on-line multi-layer artificial neural network (ANN) training scheme to estimate the inertia matrix of the robot arm to enhance the performance of the active force control (AFC) scheme. The robot under study is a planar two-link...

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Bibliographic Details
Main Authors: Hussein, Shamsul Bahri, Jamaluddin, Hishamuddin, Mailah, Musa
Format: Article
Language:English
Published: Faculty of Mechanical Engineering 1999
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/8322/
http://eprints.utm.my/8322/1/ShamsulBahriHussein1999_AnIntelligentMethodToEstimateTheInertia.PDF

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