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International Conference on Aerospace Sciences and Aviation Technology
The paper discusses experimental identification of one joint of a hand made, two degrees of freedom robot manipulator, including flexibilities, under feedback. A black box system model is identified from the input-output data. Both linear, OE (Output Error) and non-linear structure (multilayer perceptrons neural network) models are treated and applied. A Levenberg-Marquardt algorithm is implemented to generate our NNARX model. As regressors two past inputs and two past outputs are chosen.doi:10.21608/asat.2007.24112 fatcat:humtadkqm5agrjm3yfvrawwtsi