Parametric control device

摘要: An adaptive control system for mechanical and dynamic systems being transferred from an initial to a desired final state by devices. The comprises controller (e.g. in the form of artificial neural network) providing scaling parameters p, inputs coordinates states, function generator which provides prototypical time functions scaled above parameters, those signals provided directly via connections devices generate required signals. may be used robotic manipulator having number rigid links interconnected joints, moveable actuators. manipulator's Kinematics Dynamics, including joint interaction effects, are taken into account this it controls movements without need any real-time feedback circuity or explicit calculations inverse kinematics dynamics.