Robust neural force control scheme under uncertainties in robot dynamics and unknown environment

IEEE Transactions on Industrial Electronics

Volumn 47, Issue 2, 2000, Pages 403-412

  Jung, Seul ^a   Hsia, T C ^b  

^a Chungnam National University   (South Korea)

^b University of California Davis   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; ELECTRIC IMPEDANCE; FORCE CONTROL; LEACHATE TREATMENT; MATHEMATICAL MODELS; MOTION CONTROL; NEURAL NETWORKS; PROBABILITY; ROBUSTNESS (CONTROL SYSTEMS);

CONTACT SPACE MOTION CONTROL; FREE SPACE MOTION CONTROL; TRAINING SIGNALS;

MANIPULATORS;

EID: 0033886687     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/41.836356     Document Type: Article

References (19)

1. N. Hogan, "Impedance control: An approach to manipulator - Parts I-III," ASME J. Dynam. Syst., Meas., Contr., vol. 107, pp. 1-24, Mar. 1985.
2. T. Lasky and T. C. Hsia, "On force-tracking impedance control of robot manipulators," in Proc. IEEE Int. Conf. Robotics and Automation, 1991, pp. 274-280.
3. S. Lee and H. S. Lee, "Intelligent control of manipulators interfacing with an uncertain environment based on generalized impedance," in Proc. IEEE Symp. Intelligent Control, 1991, pp. 61-66.
4. M. H. Raibert and J. J. Craig, "Hybrid position and force control of robot manipulators," ASME J. Dynam. Syst., Meas., Contr., vol. 102, pp. 126-133, June 1981.
5. H. Seraji and R. Colbaugh, "Force tracking in impedance control," in Proc. IEEE Int. Conf. Robotics and Automation, 1993, pp. 499-506.
6. R. Colbaugh, H. Seraji, and K. Glass, "Direct adaptive impedance control of robot manipulators," J. Robot. Syst., vol. 10, no. 2, pp. 217-248, 1993.
7. H. Seraji, "Adaptive admittance control: An approach to explicit force control in compliant motion," in Proc. IEEE Int. Conf. Robotics and Automation, 1994, pp. 2705-2712.
8. H. Miyamoto, M. Kawato, T. Setoyama, and R. Suzuki, "Feedback error learning neural network for trajectory control of a robotic manipulator," Neural Networks, vol. 1, pp. 251-265, Feb. 1988.
9. T. Yabuta and T. Yamada, "Learning control using neural networks," in Proc. IEEE Int. Conf. Robotics and Automation, 1991, pp. 740-745.
10. T. Fukuda and T. Shibata, "Theory and applications of neural networks for industrial control systems," IEEE Trans. Ind. Electron., vol. 39, pp. 472-489, Dec. 1992.
11. A. Ishiguro, T. Furuhashii, S. Okuma, and Y. Uchikawa, "A neural network compensator for uncertainties of robot manipulator," IEEE Trans. Ind. Electron., vol. 39, pp. 61-66, Dec. 1992.
12. F. L. Lewis, K. Liu, and A. Yesildirek, "Neural net robot controller with guaranteed tracking performance," in Proc. IEEE Symp. Intelligent Control, 1993, pp. 225-231.
13. J. Yuh, "A neural net controller for underwater robotic vehicles," IEEE J. Oceanic Eng., vol. 15, pp. 161-166, July 1990.
14. S. Jung and T. C. Hsia, "A study on new neural network schemes for robot manipulator control," Robotica, vol. 14, no. 1, pp. 7-15, 1996.
15. "A new neural network control technique for robot manipulators," Robotica, vol. 13, pp. 477-484, Sept./Oct. 1995.
16. "Neural network impedance force control of robot manipulators," IEEE Trans. Ind. Electron., vol. 45, pp. 451-461, June 1998.
17. "Neural network techniques for robust force control of robot manipulators," in Proc. IEEE Symp. Intelligent Control, Monterey, CA, Aug. 1995, pp. 111-116.
18. "Analysis of nonlinear neural network impedance force control for robot manipulators," in Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 1731-1736.
19. J. J. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.