Adaptive force-environment estimator for manipulators based on adaptive wavelet neural network

- An adaptive tracking control named WNN_AFEE is proposed which uses estimation of external forces.
- WNN_AFEE does not need the inverse of the Jacobian transpose for computing the force.
- WNN_AFEE can estimate external forces in the presence of some parametric uncertainties.
- WNN_AFEE has no limitation of estimating constant or slowly varying forces.
- WNN_AFEE uses fast learning and localized time-frequency features for environment changing estimation.