Neuronal Control of a manipulator arm serving people with disabilities: controlled inverse model

In the field of service robotics, control robots complex highly nonlinear and must be precise monitoring path while an explicit model is often not available. It was discussed as the first theme, a study of the state of the art of robotic assistance where we presented the various commands used. In this regard, we propose the neural control. A comprehensive study of the neural networks was performed followed by an application justifying the considerations discussed. Finally, a study of the robotic of the manipulator arm ScircA allowed us to perform modeling and neural control and the latter. The simulations and results demonstrate the performance of this approach.