Inverse-free Jacobian-estimated zeroing neural network model for mechanical arm path tracking with minimal joint motion

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Jielong Chen, Yan Pan, Yunong Zhang, Shuai Li, Min Yang

Published: 2026, Last Modified: 05 Nov 2025Expert Syst. Appl. 2026EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•A novel inverse-free sub-model that eliminates matrix inverse operations is proposed.•An effective Jacobian-estimated sub-model is designed.•Detailed theoretical analyses substantiate the convergence performance of the model.•The proposed model is verified using various experimental platforms.