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Continuous Control Strategy of Planar 3-Linkage Underactuated Manipulator Based on Broad Neural Network

For the position control of a planar 3-linkage underactuated manipulator (PTUM) with a passive first linkage, a continuous control strategy is developed in this paper. In particular, a broad neural network (BNN)-based model is first established to accurately describe the motion coupling relationship...

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Principais autores: Siyu Chen, Yawu Wang, Pan Zhang, Chun-Yi Su
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2021-09-01
Serier:Actuators
Fag:
planar underactuated manipulator
continuous control
broad neural network
motion coupling relationship
Online adgang:https://www.mdpi.com/2076-0825/10/10/249
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