|Title: Control of pneumatic robot arm dynamics by a neural network World congress on neural networks|
|Written by: Smagt P van der, Schulten K|
|on pages: III/180-III/183|
|Publisher: Lawrence Erlbaum Associates, Inc., Hillsdale, NJ|
|Address: Portland, OR, USA|
Abstract: The trajectory control of a pneumatically driven robot arm resembling a skeletal muscle system is studied. The arm dynamics have been shown to be hysteretic and significantly changing in time due to external influences (Hesselroth et al., IEEE Systems, Man and Cybernetics V24N1, pp. 28-38, 1994) thus requiring an adaptive controller. A highly adaptive feedback algorithm is suggested and shown to control accurately trajectory following tasks.