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Neural Network Controller for Two links- Robotic Manipulator Control with Different Load

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Figure

Figure 1 shows all the forces and moments acting on link i.
Figure 4: the structure of system identification stage
Figure 8: the schematic of Neural Network controller
Figure 14: the output of two link- robotic manipulator systems using Neural Network controller based on PID controller with different load 3kg, 5kg, 7.5kg, 10kg

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