Intelligent position/force control for uncertain robot using neural network compensation

被引：0

作者：

Wang, HR ^{[1
]}

Yang, L ^{[1
]}

Wei, LX ^{[1
]}

机构：

[1] Hebei Univ, Baoding 071002, Peoples R China

来源：

Proceedings of 2005 International Conference on Machine Learning and Cybernetics, Vols 1-9 | 2005年

关键词：

uncertainty; neural network control; self-adaptive fuzzy control; robot manipulators;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The performance of robot force tracking control is affected by the uncertainties in both the robot dynamic model and environment stiffness. The purpose of this paper is to improve the controller robustness by applying the neural network (NN) technique to compensate for the uncertainties of the robot model at input trajectory level rather than at the joint torque level. In addition, a self-adaptive fuzzy controller is introduced for robot manipulator position/force control. Simulation results based on a two-DOF robot show that highly robust position/force tracking can be achieved in the presence of large uncertainties in the robot model.

引用

页码：1175 / 1179

页数：5

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