Angie Paola Mancipe García

Cascade Control of a 2R Planar Robot for Trajectory Tracking Using an Ensemble MLP-Based Inverse Kinematics

This article presents the design and implementation of a cascade control scheme applied to a two degree of freedom (2R) planar robot, focused on trajectory tracking. The system architecture integrates three hierarchical loops: current, speed, and position. The current loop was characterized using the Smith two-point me...