DocumentCode
1683345
Title
Impedance control of robot manipulator using artificial intelligence
Author
Kim, Han Me ; Chang Don Lee ; Kim, Doo Hyeong ; Park, Kyoung Taik
Author_Institution
Environ. & Energy Syst. Res. Div., KIMM, Daejeon, South Korea
fYear
2010
Firstpage
1891
Lastpage
1894
Abstract
This paper deals with a sliding mode impedance control (SMIC) of end-effector of robot manipulator using a tracking control scheme and a real-time artificial intelligence algorithm based on a radial basis function neural networks(RBFNNs). To real-time estimate the design parameters of desired impedance model such as desired inertia, damping, and stiffness desired impedance, SMIC(sliding mode impedance control) with RBFNNs algorithm is proposed.
Keywords
electric variables control; end effectors; radial basis function networks; variable structure systems; artificial intelligence; radial basis function neural networks; robot manipulator end effector; sliding mode impedance control; tracking control scheme; Algorithm design and analysis; Artificial neural networks; Impedance; Manipulator dynamics; Robustness; Impedance control; radial basis function neural networks; sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location
Gyeonggi-do
Print_ISBN
978-1-4244-7453-0
Electronic_ISBN
978-89-93215-02-1
Type
conf
Filename
5670187
Link To Document