Trajectory tracking neural network robot control applications

The theoretical development of a trajectory tracking neural network controller based on the theory of sliding-mode controllers is shown in the paper. Derived equations of the neural network controller were verified on a direct drive 2 DOF SCARA and 3 DOF mechanism models. The new neural network controllers were compared with neural network controllers based on the computed torque method. An application on a real 2 DOF SCARA robot mechanism by the neural network controller based on the computed torque method is discussed.