Combined adaptive neural network and regressor‐based trajectory tracking control of flexible joint robots

By relying on the input–output feedback linearization approach, a novel adaptive controller for flexible joint robots is proposed in this work. First, model-based developed to get structure that useful development of controller. The version by using two techniques. To stabilize output function, an neural network used, which approximates non-linear function contains uncertainties. desired rotor position required defined with link dynamics regressor-based main reason adopt mentioned definition guarantee its differentiability. Real-time experiment comparisons among controller, compensation, based torque feedback, and network-based are carried out. Experimental results support theory reported document accuracy approach.