Robust force/motion control of constrained robots using neural network

Kwan C., Yesildirek A., Lewis F.

JOURNAL OF ROBOTIC SYSTEMS, cilt.16, sa.12, ss.697-714, 1999 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 16 Sayı: 12
  • Basım Tarihi: 1999
  • Dergi Adı: JOURNAL OF ROBOTIC SYSTEMS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.697-714
  • Yıldız Teknik Üniversitesi Adresli: Hayır

Özet

A robust neural network (NN) controller is proposed for the simultaneous force/motion control of constrained rigid robots. The NN weights here are tuned on-line, with no off-line learning phase required. Most importantly, we can guarantee the boundedness of constraint force errors, joint position tracking errors, and NN weights. When compared with adaptive controllers, we do not require linearity in the unknown parameters, and the tedious computation of the regression matrix. Novel passivity properties of the NN controller are stated and proven. (C) 1999 John Wiley & Sons, Inc.