Tootfinder

Joint torques prediction of a robotic arm using neural networks
Giulia d'Addato, Ruggero Carli, Eurico Pedrosa, Artur Pereira, Luigi Palopoli, Daniele Fontanelli
https://arxiv.org/abs/2405.00695

Joint torques prediction of a robotic arm using neural networks
Accurate dynamic models are crucial for many robotic applications. Traditional approaches to deriving these models are based on the application of Lagrangian or Newtonian mechanics. Although these methods provide a good insight into the physical behaviour of the system, they rely on the exact knowledge of parameters such as inertia, friction and joint flexibility. In addition, the system is often affected by uncertain and nonlinear effects, such as saturation and dead zones, which can be diffic…