In this paper, a novel Forward Dynamic MIMO Neural NARX model is used for simultaneously modeling and identifying both joints of the 2-axes PAM robot arm's forward dynamic model. The contact force variation and highly nonlinear cross effect of both links of the 2-axes PAM robot arm are modeled thoroughly through a Forward Neural MIMO NARX Model-based identification process using experiment input-output training data. The results show that the novel Forward Dynamic Neural MIMO NARX Model trained by Back Propagation learning algorithm yields outstanding performance and perfect accuracy. © 2009 Springer Berlin Heidelberg.
CITATION STYLE
Ahn, K. K., & Anh, H. P. H. (2009). Dynamic model identification of 2-axes PAM robot arm using neural MIMO NARX model. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5754 LNCS, pp. 473–479). https://doi.org/10.1007/978-3-642-04070-2_53
Mendeley helps you to discover research relevant for your work.