Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control

Automatica

Volumn 43, Issue 7, 2007, Pages 1281-1288

  Karayiannidis, Yiannis ^a   Rovithakis, George ^a   Doulgeri, Zoe ^a  

^a ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

Compliant Contact; Contact uncertainties; Dynamic model uncertainties; Force position tracking; Neuro adaptive control; Robotic manipulator

Indexed keywords

FRICTION; MANIPULATORS; MATHEMATICAL MODELS; PARAMETER ESTIMATION; ROBOTS;

COMPLIANT CONTACT; CONTACT UNCERTAINTIES; DYNAMIC MODEL UNCERTAINTIES; NEURO-ADAPTIVE CONTROL; ROBOTIC MANIPULATORS;

TRACKING (POSITION);

EID: 34249087342     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2006.12.019     Document Type: Article

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