Design of a neural network for an identification of a robot model with a positive definite inertia matrix

Authors:
Jakub Możaryn;Jerzy E. Kurek
Affiliations:
Institute of Automatic Control and Robotics, Warsaw University of Technology, Warszawa, Poland;Institute of Automatic Control and Robotics, Warsaw University of Technology, Warszawa, Poland
Venue:
ICAISC'10 Proceedings of the 10th international conference on Artifical intelligence and soft computing: Part II
Year:
2010

Citing 3
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Abstract

This article presents a method of designing the neural network for the identification of the robot model in a form of Lagrange-Euler equations. It allows to identify the positive definite inertia matrix. A proposed design of a neural network structure is based on the Cholesky decomposition.