Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control
2007 (English)In: Automatica, ISSN 0005-1098, Vol. 43, no 7, 1281-1288 p.Article in journal (Refereed) Published
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.
Force/position tracking, Robotic manipulator, Compliant Contact, Contact uncertainties, Dynamic model uncertainties, Neuro-adaptive control
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-48888DOI: 10.1016/j.automatica.2006.12.019ISI: 000247764400018OAI: oai:DiVA.org:kth-48888DiVA: diva2:458765
QC 201111242011-11-232011-11-232011-12-13Bibliographically approved