Title :
Analysis of nonlinear neural network impedance force control for robot manipulators
Author :
Jung, Seul ; Hsia, T.C.
Author_Institution :
Dept. of Mechatronics Eng., Chung Nam Nat. Univ., Taejon, South Korea
Abstract :
A force tracking nonlinear impedance control scheme using a neural network is introduced. Due to the nonlinear characteristics of the proposed control law, stability has been analyzed. The numerical bound of environment position uncertainty for ensuring robot contact with the environment and to perform desired force tracking has been found. Intensive simulation studies with a three link rotary robot manipulator tracking the surface with a desired force are carried out to confirm the boundary solutions of the proposed scheme under no knowledge of environment surface position and environment stiffness
Keywords :
compensation; control system analysis; control system synthesis; feedforward neural nets; force control; manipulator dynamics; multilayer perceptrons; neurocontrollers; nonlinear control systems; stability; tracking; environment position uncertainty; force tracking; nonlinear characteristics; nonlinear neural network impedance force control; robot manipulators; three link rotary robot manipulator; Force control; Impedance; Iron; Manipulators; Neural networks; Nonlinear control systems; Nonlinear equations; Orbital robotics; Robots; Uncertainty;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677416
