caa a22 4500 47580077X CHVBK 20180406123736.0 cr unu---uuuuu 170329e20000801xx s 000 0 eng 10.1023/A:1009694129740 doi (NATIONALLICENCE)springer-10.1023/A:1009694129740 Control of a Robotic Manipulator Using Artificial Neural Networks with On-line Adaptation [Elektronische Daten] [Roselito Teixeira, Antônio Braga, Benjamim Menezes] An adaptive neural system for positioning control of a PUMA 560 manipulator is presented". The computed torque method was implemented with a Multi-Layer Perceptron with on-line learning. The control scheme is implemented into two phases. The first one is the off-line phase in which the neural network is trained with previously known control actions. The second one is the on-line phase in which the neural network parameters are adapted while controlling the manipulator. The control system is able to respond to changes in the manipulator model and to load disturbances. As will be shown, control system performance is improved with the on-line learning strategy presented in this paper. Kluwer Academic Publishers, 2000 Adaptive Learning Rate nationallicence ANN application nationallicence on-line training nationallicence PUMA 560 nationallicence robotic control nationallicence Teixeira Roselito Instituto Católico de Minas Gerais, Coronel Fabriciano, MG, Brazil aut Braga Antônio Depto. Engenharia Eletrónica, UFMG, Belo Horizonte, Brazil aut Menezes Benjamim Depto. Engenharia Eletrónica, UFMG, Belo Horizonte, Brazil aut Neural Processing Letters Kluwer Academic Publishers 12/1(2000-08-01), 19-31 1370-4621 12:1<19 2000 12 11063 https://doi.org/10.1023/A:1009694129740 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1023/A:1009694129740 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Teixeira Roselito Instituto Católico de Minas Gerais, Coronel Fabriciano, MG, Brazil aut NATIONALLICENCE 700 1- Braga Antônio Depto. Engenharia Eletrónica, UFMG, Belo Horizonte, Brazil aut NATIONALLICENCE 700 1- Menezes Benjamim Depto. Engenharia Eletrónica, UFMG, Belo Horizonte, Brazil aut NATIONALLICENCE 773 0- Neural Processing Letters Kluwer Academic Publishers 12/1(2000-08-01), 19-31 1370-4621 12:1<19 2000 12 11063 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer