%0 Journal Article
%T Neural Network Control of Flexible-joint Robot Manipulators<br>柔性关节机操手的神经网络控制
%A Peng Ji-Gen
%A Ni Yuan-Hua
%A Qiao Hong
%A <br>彭济根
%A 倪元华
%A 乔红
%J 自动化学报
%D 2007
%I 
%X In this paper, for flexible-joint robot manipulators with weak flexibility, we propose a neural network trajectory-tracking strategy based on singular perturbation theory. Under general assumptions, we prove that the tracking error is ultimately uniformly bounded and that the corresponging ultimate bound can be sufficiently decreased by modifying the feedback gain matrix. Since the linearization assumption of the unknown parameters is removed, the regression matrix need not be conmputed. Therefore, the proposed method has great robustness and the ability of model generalization. The numerical simulation shows that the proposed method is feasible and efficient.
%K Singular perturbation
%K robot
%K neural network
%K joint flexibility<br>奇异摄动
%K 机器人
%K 神经网络
%K 柔性关节
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=43B454C8F81AE6F1&yid=A732AF04DDA03BB3&vid=27746BCEEE58E9DC&iid=0B39A22176CE99FB&sid=A58CF3BAE79427D0&eid=F1A8654ADB4E656E&journal_id=0254-4156&journal_name=自动化学报&referenced_num=5&reference_num=12