MLP-controller-two-link-manipulator

MATLAB model: research on using different controllers for correcting trajectory of a robotic arm

Controllers:

• Proportinal;
• Proportonal-integral;
• Fuzzy;
• Neural network (multilayer perceptron).

Kinematics:

• PZK - direct kinematics;
• OZK - inverse kinematics;
• PZS - direct kinematics for velocities;
• OZS - inverse kinematics for velocities.

Neural network:

• weightsCorrectedFirst - correcting weights for the first layer;
• weightsCorrectedSecond - correcting weights for the output layer;
• errorFirstLayer - calculating error for the first layer;
• errorSecondLayer - calculating error for the output layer.

Trajectory:

• errorLine - calculating contour error for the straight line trajectory;
• EVector - calculating [Ex; Ey] components of the contour error;
• Line - generating trajectory;