Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.ORCID iD: 0000-0001-5129-342X
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
2007 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 43, no 7, 1281-1288 p.Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
2007. Vol. 43, no 7, 1281-1288 p.
Keyword [en]
Force/position tracking, Robotic manipulator, Compliant Contact, Contact uncertainties, Dynamic model uncertainties, Neuro-adaptive control
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-48888DOI: 10.1016/j.automatica.2006.12.019ISI: 000247764400018OAI: oai:DiVA.org:kth-48888DiVA: diva2:458765
Note
QC 20111124Available from: 2011-11-23 Created: 2011-11-23 Last updated: 2017-12-08Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Authority records BETA

Karayiannidis, Yiannis

Search in DiVA

By author/editor
Karayiannidis, Yiannis
In the same journal
Automatica
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 92 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf