?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Analysis+and+control+of+a+rubbertuator+arm&rft.creator=Smagt%2C+P.+van+der&rft.creator=Groen%2C+F.&rft.creator=Schulten%2C+K.&rft.subject=Neural+Nets&rft.subject=Robotics&rft.description=The+control+of+light-weight+compliant+robot+arms+is+cumbersome+due+to+the+fact+that+their+Coriolis+forces+are+large%2C+and+the+forces+exerted+by+the+relatively+weak+actuators+may+change+in+time+due+to+external+(e.g.%2C+temperature)+influences.+We+describe+and+analyse+the+behaviour+of+a+light-weight+robot+arm%2C+the+SoftArm+robot.+It+is+found+that+the+hysteretic+force-position+relationship+of+the+arm+can+be+explained+from+its+structure.+This+knowledge+is+used+in+the+construction+of+a+neural-network+based+controller.+Experiments+show+that+the+network+is+able+to+accurately+control+the+robot+arm+after+a+training+session+of+only+a+few+minutes.&rft.date=1996&rft.type=Journal+(Paginated)&rft.type=PeerReviewed&rft.format=application%2Fpostscript&rft.identifier=http%3A%2F%2Fcogprints.org%2F492%2F2%2FSmaGroSch96.ps&rft.identifier=++Smagt%2C+P.+van+der+and+Groen%2C+F.+and+Schulten%2C+K.++(1996)+Analysis+and+control+of+a+rubbertuator+arm.++%5BJournal+(Paginated)%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F492%2F