Details

Autor(en) / Beteiligte

• Li-Xin Wei
• Li Yang
• Hong-Rui Wang

Titel

Fuzzy-neuro Position/Force Control of Robot Manipulators with Uncertainties

Ist Teil von

• 2005 International Conference on Neural Networks and Brain, 2005, Vol.2, p.1004-1008

Ort / Verlag

IEEE

Erscheinungsjahr

2005

Link zum Volltext

• IEEE_Xplore

Quelle

IEL

Beschreibungen/Notizen

• In this paper, a new robust robot force tracking impedance control scheme that has the capability to track a specified desired force and to compensate for uncertainties in environment stiffness as well as in robot dynamic model is proposed. The uncertainties in robot dynamics are compensated by a radial basis function network (RBFN) controller, and a fuzzy tuning mechanism is developed to generate the impedance model which describes the relationship between force and position/velocity error. Simulation studies based on a two-DOF robot manipulator are carried out and the results show that highly robust position/force tracking can be achieved in the presence of large uncertainties