An intelligent method to estimate the inertia matrix of a robot arm for active force control using on-line neural network training scheme

• Main Authors: Hussein, Shamsul Bahri, Jamaluddin, Hishamuddin, Mailah, Musa
• Format: Article
• Language: English
• Published: Faculty of Mechanical Engineering 1999
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/8322/1/ShamsulBahriHussein1999_AnIntelligentMethodToEstimateTheInertia.PDF; http://eprints.utm.my/id/eprint/8322/; http://portal.psz.utm.my/psz/index.php?option=com_content&task=view&id=128&Itemid=305&PHPSESSID=81b664e998055f65b4ccff8f61bf7cb2

This paper presents a new intelligent controller algorithm comprising an on-line multi-layer artificial neural network (ANN) training scheme to estimate the inertia matrix of the robot arm to enhance the performance of the active force control (AFC) scheme. The robot under study is a planar two-link...