Vision-based neural network control for constrained robots with constraint uncertainty

IET Control Theory and Applications

Volumn 2, Issue 10, 2008, Pages 906-916

  Zhao, Y ^a   Cheah, C C ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER VISION; CONTROL SYSTEMS; FORCE CONTROL; IMAGE CLASSIFICATION; NETWORK PROTOCOLS; NEURAL NETWORKS; ROBOT APPLICATIONS; ROBOTICS; ROBOTS; SENSOR NETWORKS; SURFACE STRUCTURE; SYSTEM STABILITY; UNCERTAINTY ANALYSIS;

ADAPTIVE NEURAL NETWORK CONTROLLER; CONSTRAINED ROBOTS; CONSTRAINT SURFACE; CONTROL APPLICATIONS; FORCE CONTROL SYSTEM; HYBRID POSITION; NEURAL NETWORK CONTROLLERS; NEURAL-NETWORK CONTROL; ROBOT MANIPULATORS; SIMULATION RESULTS; UNCERTAIN KINEMATICS; VISION-BASED;

ADAPTIVE CONTROL SYSTEMS;

EID: 53849131688     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta:20070316     Document Type: Article

References (44)

1. Hogan, N.: ' Impedance control: an approach to manipulation: part I-theory; part II-implementation; part III- applications ', ASME J. Dyn. Syst. Meas. Control, 1985, 107, p. 1-24
2. Raibert, M.H., and Craig, J.J.: ' Hybrid position/force control of manipulators ', ASME J. Dyn. Syst. Meas. Control, 1981, 102, p. 126-133
3. Khatib, O.: ' A unified approach for motion and force control of robot manipulators: The operation space formulation ', IEEE J. Robot. Autom., 1987, 3, (1), p. 43-53 0882-4967
4. Mills, J.K., and Goldenberg, A.A.: ' Force and position control of manipulators during constrained motion tasks ', IEEE Trans. Robot. Autom., 1989, 5, (1), p. 30-46 1042-296X
5. McClamroch, N.: ' Force and impedance control ', Spong, M.W., Lewis, F.L., Abdallah, C.T., Robot control: Dynamics, motion palnning and analysis, (IEEE Press, New York, 1993), p. 273-276
6. McClamroch, N.H., and Wang, D.: ' Feedback stabilization and tracking of constrained robots ', IEEE Trans. Autom. Control, 1988, 33, (5), p. 419-426 0018-9286
7. Wang, D., and McClamroch, N.H.: ' Position/force control design for constrained mechanical systems: Lyapunov's direct method ', IEEE J. Robot. Autom., 1993, 9, (3), p. 308-313 0882-4967
8. Arimoto, S.: ' Control theory of nonlinear mechanical systems - a passivity-based and circuit-theoretic approach ', (Clarendon Press, 1996)
9. Yoshikawa, T., Sugie, T., and Tanaka, M.: ' Dynamic hybrid position/force control of robot manipulators: controller design and experiment ', IEEE J. Robot. Autom., 1988, 4, (6), p. 699-705 0882-4967
10. Yoshikawa, T.: ' Force control of robot manipulators ', Proc. IEEE Conf. Robotics and Automation, 2000, p. 220-226
11. Yoshikawa, T., and Sudou, A.: ' Dynamic hybrid position/force control of robot manipulators: online estimation of unknown constraint ', IEEE Trans. Robot. Autom., 1993, 9, (2), p. 220-226 1042-296X
12. Cheah, C.C., Kawamura, S., and Arimoto, S.: ' Hybrid position and force control for robotic manipulator with a class of constraint uncertainty ', Proc. USA/Japan Symp. Flexible Automation, Otsu, Japan, 1998, p. 501-507
13. Hosoda, K., Igarashi, K., and Asada, M.: ' Adaptive hybrid control for visual and force servoing in an unknown environment ', IEEE Robot. Autom. Mag., 1998, 5, (4), p. 39-43 1070-9932
14. Xiao, D., Ghosh, B.K., Xi, N., and Tarn, T.J.: ' Sensor-based hybrid position/force control of a robot manipulator in an uncalibrated environment ', IEEE Trans. Control Syst. Technol., 2000, 8, (4), p. 635-645 1063-6536
15. Zhao, Y., and Cheah, C.C.: ' Hybrid vision-force control for robot with uncertainties ', Proc. IEEE Int. Conf. Robotics and Automation, 2004, p. 261-266
16. Cheah, C.C., Kawamura, S., and Arimoto, S.: ' Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties ', Automatica, 2003, 39, p. 847-855 0005-1098
17. Sanner, R.M., and Slotine, J.E.: ' Gaussian networks for direct adaptive control ', IEEE Trans. Neural Netw., 1992, 3, (6), p. 837-863 1045-9227
18. Kim, Y.H., and Lewis, F.L.: ' Neural network output feedback control of robot manipulator ', IEEE Trans. Robot. Autom., 1999, 15, (2), p. 301-309 1042-296X
19. Patino, H.D., Carelli, R., and Kuchen, B.R.: ' Neural networks for advanced control of robot manipulators ', IEEE Trans. Neural Netw, 2002, 13, (2), p. 343-354 1045-9227
20. Carelli, R., Camacho, E.F., and Patino, D.: ' A neural network based feedforward adaptive controller for robots ', IEEE Trans. Syst. Man Cybern., 1995, 25, (9), p. 1281-1288 0018-9472
21. Miller, W.T.: ' Real-time application of neural networks for sensor-based control of robots with vision ', IEEE Trans. Syst., Man Cybern., 1989, 19, (4), p. 825-831 0018-9472
22. Ge, S.S., Lee, T.H., and Harris, C.J.: ' Adaptive neural network control of robotic manipulators ', (World Scientific Publishing, 1998)
23. Lewis, F.L.: ' Neural network control of robot manipulators ', Intell. Syst. Appl., 1996, 11, (3), p. 64-75
24. Lewis, F.L., Liu, K., and Yesildirek, A.: ' Neural net robot controller with guaranteed tracking performance ', IEEE Trans. Neural Netw., 1995, 6, (3), p. 703-715 1045-9227
25. Lewis, F.L., Yesildirek, A., and Liu, K.: ' Multilayer neural-net robot controller with guaranteed tracking performance ', IEEE Trans. Neural Netw., 1996, 7, (2), p. 388-399 1045-9227
26. Sanner, R.M., and Slotine, J.E.: ' Structurally dynamic wavelet networks for adaptive control of robotic systems ', Int. J. Control., 1998, 70, (3), p. 405-421 0020-7179
27. Kwan, C.M., Yesildirek, A., and Lewis, F.L.: ' Robust force/motion control of constrained robots using neural network ', J. Robotic Syst., 1999, 16, (12), p. 697-714
28. Haykin, S.: ' Neural networks - a comprehensive foundation ', (Prentice-Hall International, 1999)
29. Nakamura, Y.: ' Advanced robotics-redundancy and optimization ', (Addison-Wesley Publishing Company, 1991)
30. Hutchinson, S., Hager, G.D., and Corke, P.I.: ' A tutorial on visual servo control ', IEEE Trans. Robot. Autom., 1996, 12, (5), p. 651-670 1042-296X
31. Weiss, L.E., Sanderson, A.C., and Neuman, C.P.: ' Dynamic sensor-based control of robots with visual feedback ', IEEE J. Robot. Autom., 1987, 3, (5), p. 404-417 0882-4967
32. Espiau, B., Chaumette, F., and Rives, P.: ' A new approach to visual servoing in robotics ', IEEE Trans. Robot. Autom., 1992, 8, (3), p. 313-326 1042-296X
33. Papanikolopoulos, N.P., Khosla, P.K., and Kanade, T.: ' Visual tracking of a moving target by a camera mounted on a robot: a combination of vision and control ', IEEE Trans. Robot. Autom., 1993, 9, (1), p. 14-35 1042-296X
34. Papanikolopoulos, N.P., and Khosla, P.K.: ' Adaptive robot visual tracking: Theory and experiments ', IEEE Trans. Autom. Control, 1993, 38, (3), p. 429-445 0018-9286
35. Siciliano, B., and Villani, L.: ' Robot force control ', (Kluwer Academic Publishers)
36. Arimoto, S.: ' Robotics research toward explication of everyday physics ', Int. J. Robot. Res., 1999, 18, (11), p. 1056-1063 0278-3649
37. Cheah, C.C., Hirano, M., Kawamura, S., and Arimoto, S.: ' Approximate Jacobian control for robots with uncertain kinematics and dynamics ', IEEE Trans. Robot. Autom., 2003, 19, (4), p. 692-702 1042-296X
38. Cheah, C.C., Liu, C., and Slotine, J.: ' Adaptive tracking control for robots with unknown kinematic and dynamic properties ', Int. J. Robot. Res., 2006, 25, (3), p. 283-296 0278-3649
39. Cheah, C.C.: ' Approximate jacobian control for robot manipulators ', Kawamura, S., Svinin, M., (Springer-Verlag, 2006), 'Advances in robot control: from everyday physics to human-like movements'
40. Ge, S.S., and Hang, C.C.: ' Structural network modeling and control of rigid body robots ', IEEE Trans. Robot. Autom., 1998, 14, (5), p. 823-827 1042-296X
41. Kwan, C., Lewis, F.L., and Dawson, D.M.: ' Robust neural-network control of rigid-link electrically driven robots ', IEEE Trans. Neural Netw., 1998, 9, (4), p. 581-588 1045-9227
42. Slotine, J.J.E., and Li, W.: ' Applied nonlinear control ', (Prentice-Hall International, 1991)
43. Patre, P., Mackunis, W., Kaiser, K., and Dixon, W.: ' Asymptotic tracking for uncertain dynamic systems via a multilayer nn feedforward and rise feedback control structure ', American Control Conf, 2007
44. Liang, C., Bhasin, S., Dupree, K., and Dixon, W.E.: ' An impact force limiting adaptive controller for a robotic system undergoing a non-contact to contact transition ', Proc. IEEE Conf. Decision and Controls, 2007