Trajectory Control With MPC For A Robot Manipulator Using ANN Model

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Provided by: International Journal of Modern Engineering Research (IJMER)
Topic: Networking
Format: PDF
In this paper, in a computer the dynamic motion modeling of manipulator and control of trajectory with an algorithm this has been tested. First after dynamic motion simulation of manipulator has been made MPC control. The result in this paper, they can observe that computed torque method gives better results than MPC methods. So in trajectory control it is approved of using computed torque method. In last part of this paper the results are estimated forward development are examined and suggested.
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