Original Research Published on 03 Dec 2020 PD Control Compensation Based on a Cascade Neural Network Applied to a Robot Manipulator Luis Arturo SorianoErik ZamoraJ. M. Vazquez-NicolasGerardo HernándezJosé Antonio Barraza MadrigalDavid Balderas Frontiers in Neurorobotics doi 10.3389/fnbot.2020.577749 7,806 views 96 citations