Analysis of nonlinear neural network impedance force control for robot manipulators

A force tracking nonlinear impedance control scheme using a neural network is introduced. Due to the nonlinear characteristics of the proposed control law, stability has been analyzed. The numerical bound of environment position uncertainty for ensuring robot contact with the environment and to perform desired force tracking has been found. Intensive simulation studies with a three link rotary robot manipulator tracking the surface with a desired force are carried out to confirm the boundary solutions of the proposed scheme under no knowledge of environment surface position and environment stiffness