Abstract:An investigation is described to demonstrate the benefits which can be gained by using a Digital Signal Processor (DSP) to implement robot related control schemes9 kinematics, and inverse dynamics with a neural network. A neural network adaptive controller is given and applied to a robot manipulator having a closed kinematic chain, a configuration which is not well suited to the popular serial link algorithms. The Lyapunov's stability approach is used to develop a learning rule for the neural network controlle… Show more
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