کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
697863 | 890384 | 2007 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control](/preview/png/697863.png)
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 43, Issue 7, July 2007, Pages 1281–1288
Journal: Automatica - Volume 43, Issue 7, July 2007, Pages 1281–1288
نویسندگان
Yiannis Karayiannidis, George Rovithakis, Zoe Doulgeri,