Open Loop Control of the Underactuated Manipulator Using Neural Network

摘要

The control problem of the underactuated manipulator is studied in this paper. The underactuated joint can be stabilized at the equilibrium point through the periodic disturbance of the actuated joint. And then, the open loop control strategy is designed based on above results using neural network, and the position control of the non-holonomic manipulator is realized. The simulation results show that the control method of the position is effective.