DocumentCode
436242
Title
Position and force control of robot manipulators using neural networks
Author
Zhao, Y. ; Cheah, C.C.
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Volume
1
fYear
2004
fDate
1-3 Dec. 2004
Firstpage
300
Abstract
Most research on force control of robot manipulators has assumed that the kinematics and constraint surface are known exactly. In this paper, the position and force control problem of robots with uncertain kinematics, dynamics and constraint is addressed. An adaptive set point control law based on neural networks is proposed. Sufficient conditions for choosing the feedback gains are presented to guarantee the stability. Simulation results are presented to demonstrate the effectiveness of the proposed controller.
Keywords
adaptive control; force control; manipulator kinematics; neurocontrollers; position control; adaptive set point control; constraint surface; feedback gains; force control; manipulators kinematics; neural networks; position control; robot manipulators; Adaptive control; Force control; Kinematics; Manipulator dynamics; Neural networks; Neurofeedback; Programmable control; Robots; Stability; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN
0-7803-8645-0
Type
conf
DOI
10.1109/RAMECH.2004.1438935
Filename
1438935
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