Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot

<div>Tracking error: <svg height="6.1673pt" id="M473" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 5.50181 6.1673" width="5.50181pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M391 364C391 409 353 448 295 448C249 448 198 426 152 393C65 331 23 225 23 139C23 14 96 -12 146 -12C198 -12 280 9 367 101L351 124C300 78 242 48 194 48C129 48 109 107 109 162V191C208 213 391 266 391 364ZM313 350C313 305 268 261 113 223C132 334 187 381 217 398C227 404 244 405 261 405C290 405 313 385 313 350Z" id="g113-102"></path></g></svg> (-) and <svg height="11.6425pt" id="M474" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -11.4361 9.29735 11.6425" width="9.29735pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M391 364C391 409 353 448 295 448C249 448 198 426 152 393C65 331 23 225 23 139C23 14 96 -12 146 -12C198 -12 280 9 367 101L351 124C300 78 242 48 194 48C129 48 109 107 109 162V191C208 213 391 266 391 364ZM313 350C313 305 268 261 113 223C132 334 187 381 217 398C227 404 244 405 261 405C290 405 313 385 313 350Z" id="g113-102"></path></g><g transform="matrix(.0091,0,0,-0.0091,5.382,-5.741)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z" id="g50-31"></path></g></svg> (-.-).</div>

Complexity

fig11

Figure 11

Figure 11: Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot 