Open AccessCompact bionic handling arm control using neural networks
Author(s) -
Melingui A.,
Merzouki R.,
Mbede J.B.
Publication year - 2014
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/el.2014.1136
Subject(s) - control theory (sociology) , scheme (mathematics) , artificial neural network , control engineering , controller (irrigation) , robotic arm , engineering , robot , position (finance) , adaptive control , computer science , artificial intelligence , control (management) , mathematics , mathematical analysis , agronomy , finance , economics , biology
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.