Dynamic model identification of the 2-Axes PAM robot arm using neural MIMO NARX model

摘要

In this paper, a novel Inverse Dynamic MIMO NARX model is used for modeling and identifying simultaneously both of joints of the prototype 2-axes PAM robot arm’s inverse dynamic model. The contact force variations and highly nonlinear coupling features of both links of the 2-axes PAM robot arm are modeled thoroughly through an Inverse Neural MIMO NARX Model-based identification process using experiment input-output training data. For the first time, the nonlinear Inverse Dynamic MIMO NARX Model scheme of the prototype 2-axes PAM robot arm has been investigated. The results show that proposed dynamic intelligent model trained by Back Propagation learning algorithm yields outstanding performance and perfect accuracy.