Neuro-fuzzy hybrid position/force control for a space robot with flexible dual-arms

被引：0
|
作者：
Sun, FC [1 ]
Zhang, H [1 ]
Wu, H [1 ]
机构：
[1] Tsinghua Univ, State Key Lab Intelligent Technol & Syst, Dept Comp Sci & Technol, Beijing 100084, Peoples R China
来源：
ADVANCES IN NEURAL NETWORKS - ISNN 2004, PT 2 | 2004年 / 3174卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A neuro-fuzzy (NF) hybrid position/force control with vibration suppression is developed in this paper for a space robot with flexible dual-arms handling a rigid object. An impedance force control algorithm is derived using force decomposition, and then singular perturbation method is used to construct the composite control, where an adaptive NF inference system is employed to approximate the inverse dynamics of the space robot. Finally, an example is employed to illustrate the validity of the proposed control scheme.
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页码：13 / 18
页数：6
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