Development and neural control of a robotic manipulator with two degrees of freedom

Abstract

This paper presents the design and implementation of a two degree-of-freedom robotic manipulator using rotary joints and driven by three-phase induction motors. The robot is allowed to move over a spatial area of a quarter of a sphere. The position control is accomplished by neural network controllers and the overall control system performance is evaluated based on trajectory following response (sinusoidal reference signals) and on position response (step reference signals).