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- Title
Fuzzy-neuro position/force control for robotic manipulators with uncertainties.
- Authors
Hong-Rui Wang; Li Yang; Li-Xin Wei
- Abstract
Abstract The performance of a controller for robot force tracking is affected by the uncertainties in both the robot dynamic model and the environmental stiffness. This paper aims to improve the controller’s robustness by applying the neural network to compensate for the uncertainties of the robot model at the input trajectory level rather than at the joint torque level. A self-adaptive fuzzy controller is introduced for robotic manipulator position/force control. Simulation results based on a two-degrees of freedom robot show that highly robust position/force tracking can be achieved, despite the existence of large uncertainties in the robot model.
- Subjects
ROBOTICS; AUTOMATION; TORQUE; MECHANICS (Physics)
- Publication
Soft Computing - A Fusion of Foundations, Methodologies & Applications, 2007, Vol 11, Issue 4, p311
- ISSN
1432-7643
- Publication type
Article