Design of a Neural Network for an Identification of a Robot Model with a Positive Definite Inertia Matrix

  • Jakub Możaryn
  • Jerzy E. Kurek
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6114)


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.


Neural Network Neural Network Model Position Estimation Inertia Matrix Cholesky Decomposition 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Jakub Możaryn
    • 1
  • Jerzy E. Kurek
    • 1
  1. 1.Institute of Automatic Control and RoboticsWarsaw University of TechnologyWarszawaPoland

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