Details

Autor(en) / Beteiligte

• Hongyan Wang
• Keding Zhao
• Yintong He

Titel

Research of Pneumatic Hydraulic Compliant Force Control System

Ist Teil von

• 2009 Fifth International Conference on Natural Computation, 2009, Vol.1, p.265-268

Ort / Verlag

IEEE

Erscheinungsjahr

2009

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• Aiming at the difficulty of force control in impedance control lies in the unknown parameters of the environment, a reference trajectory generation approach for impedance control is presented, which uses neural networks to estimate the environment parameters. In this method, the environment parameters are estimated by a neural network (NN1), which constructs the relationship between the environment deformation and its first and second derivatives, and the interaction force. Then, another network (NN2) constructs the relationship between interaction force and the deformation. The major advantage of the proposed method is that no exact environment model is required, so that it suits for operations on any unstructured environments. Finally, the method was tested in the pneumatic hydraulic combination compliant control system, which validated the validity of the proposed method.