Adaptive RBFNN Control for Mosfet Grasping Manipulator


Electrostatic discharge (ESD) of MOSFET has become one of the major concerns in electronic product design, so the grasping with manipulator was proposed. The dynamic model of manipulator was established and adaptive neural network control with RBF NN strategy was applied to this repeat motion system. The adaptive law was designed and the simulation shows adaptive RBFNN control have good trajectory tracking ability and can applied into electronic design techniques for grasping control.

  • Abstract
  • Key Words
  • 1 Introduction
  • 2 Mathematical Models of Manipulator
  • 3 Adaptive RBFNN Controlalgorithm
  • 4 Simulations and Conclusions
  • Acknowledgment
  • References

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