Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
697863 | Automatica | 2007 | 8 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Yiannis Karayiannidis, George Rovithakis, Zoe Doulgeri,