Compact bionic handling arm control using neural networks

The tip position control of a class of continuum manipulators namely the compact bionic handling arm (CBHA) is proposed. The control scheme includes two sub-controllers. The first sub-controller, based on the distal supervised learning scheme, deals with the stationary CBHA´s behaviours; whereas the second based on adaptive control handles non-stationary behaviours. The experimental results obtained using the CBHA robot demonstrate the efficiency of the proposed approach.