PRACTICAL NEURAL CONTROLLER FOR ROBOTIC MANIPULATOR

This paper presents the design and practical implementation of inverse neural controller which is used to control the operation of six Degree Of Freedom (6DOF) robotic manipulator. An efficient off-line training method has been proposed which is used to train the neural network controller to be used as fed forward controller in the real time applications without need to the on-line training which is time consumption method. All the control algorithms and real time programming had been written with the aid of the MATLAB software.