Title :
A Neuro-Adaptive Controller for the Force/Position Tracking of a Robot Manipulator under Model Uncertainties in Compliance and Friction
Author :
Karayiannidis, Yiannis ; Rovithakis, George ; Doulgeri, Zoe
Author_Institution :
Dept. of Electr. & Comput. Eng., Thessaloniki Univ.
Abstract :
In this work, we consider the force and position trajectory tracking for a robot manipulator in compliant contact with a surface in the presence of unknown stiffness and dynamic friction. A novel neuro-adaptive controller is proposed that exploits the approximation capabilities of the linear in the weights neural networks and the uniform ultimate boundedness of force and position error is proved. Simulation results illustrate the performance of the proposed controller
Keywords :
adaptive control; force control; friction; manipulators; neurocontrollers; position control; tracking; dynamic friction; force tracking; model uncertainties; neural networks; neuro-adaptive controller; position trajectory tracking; robot manipulator; Adaptive control; Deformable models; Force control; Force measurement; Friction; Manipulator dynamics; Neural networks; Robots; Trajectory; Uncertainty;
Conference_Titel :
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location :
Ancona
Print_ISBN :
0-9786720-1-1
Electronic_ISBN :
0-9786720-0-3
DOI :
10.1109/MED.2006.328804
