Bandwidth of mechanical systems and design of emulators with RBF

The dynamic modelling plays an important role in the design of controllers for robot manipulators. The presence of uncertainties such as those from unknown parameters make the structured network modelling a powerful tool. In this sense, static neural networks based on the Kronecker product are introduced and some interesting properties connected to the dynamics are exploited. The main result of this work is the mathematical determination of the bandwidth regarding with nonlinear terms of the dynamics equations. In order to follow a methodological approach which is consistent with the sampling theorem it is necessary to treat the dynamics in the context of multivariate Fourier analysis.