Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control

被引：63
|
作者：
Karayiannidis, Yiannis [1 ]
Rovithakis, George [1 ]
Doulgeri, Zoe [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece
来源：
AUTOMATICA | 2007年 / 43卷 / 07期
关键词：
force/position tracking; robotic manipulator; compliant contact; contact uncertainties; dynamic model uncertainties; neuro-adaptive control;
D O I：
10.1016/j.automatica.2006.12.019
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of force/position tracking for a robotic manipulator in compliant contact with a surface under non-parametric uncertainties is considered. In particular, structural uncertainties are assumed to characterize the compliance and surface friction models, as well as the robot dynamic model. A novel neuro-adaptive controller is proposed, that exploits the approximation capabilities of the linear in the weights neural networks, guaranteeing the uniform ultimate boundedness of force and position error with respect to arbitrarily small sets, plus the boundedness of all signals in the closed loop. Simulations highlight the approach. (c) 2007 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1281 / 1288
页数：8
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