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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)

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.

Keywords

Neural Network Neural Network Model Position Estimation Inertia Matrix Cholesky Decomposition 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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