This paper describes the approach followed in the design of a service robot for health care applications. Under the auspices of the NASA Technology Transfer Program, a partnership was established between JPL and RWI, a manufacturer of mobile robots, to design and evaluate a mobile robot for health care assistance to the elderly and the handicapped. The activities of the rst phase of the project...

In this paper, a novel MIMO Neural NARX model is used for simultaneously modeling and identifying both joints of the 2-axes PAM robot arm’s inverse and forward dynamic model. The highly nonlinear cross effect of both links of the 2-axes PAM robot arm are thoroughly modeled through an Inverse and Forward Neural MIMO NARX Model-based identification process using experimental input-output training...