Neural-network-based robot time-varying force control with uncertain manipulator-environment system

作者：Xu Wenkang; Cai Chenxiao^*; Zou Yun

来源：TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2014, 36(8): 999-1009.

DOI：10.1177/0142331214528971

• Time-varying force tracking
• robot force control
• robust control
• neural network

This paper considers the problem of time-varying force control for robot manipulators in the presence of uncertainties from both the robotic model and working environment. The position-based impedance control (PBIC) method is employed and in order to achieve accurate time-varying force tracking, an improved PBIC is proposed. A neural-network-based robust controller is proposed to compensate for the system uncertainties, and an adaptive law is developed to identify the uncertain environmental parameters. Simulation results on a two-link robot manipulator confirm the effectiveness of the method in achieving time-varying force tracking.

• 出版日期2014-12
• 单位南京理工大学