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Erschienen in:
2009 | OriginalPaper | Buchkapitel
Dynamic Model Identification of 2-Axes PAM Robot Arm Using Neural MIMO NARX Model
verfasst von : Kyoung Kwan Ahn, Ho Pham Huy Anh
Erschienen in: Emerging Intelligent Computing Technology and Applications
Verlag: Springer Berlin Heidelberg
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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.