Robust force/motion control of constrained robots using neural network.

Autor:	Kwan, C. M., Yesildirek, A., Lewis, F. L.
Předmět:	ROBOTS ROBUST control AUTOMATIC control systems MOTION control devices PROCESS control systems ARTIFICIAL neural networks ARTIFICIAL intelligence PROGRAMMABLE controllers
Zdroj:	Journal of Robotic Systems; Dec1999, Vol. 16 Issue 12, p697-714, 18p
Abstrakt:	A robust neural network (NN) controller is proposed for the simultaneous force/motion control of constrained rigid robots. The NN weights here are tuned on-line, with no off-line learning phase required. Most importantly, we can guarantee the boundedness of constraint force errors, joint position tracking errors, and NN weights. When compared with adaptive controllers, we do not require linearity in the unknown parameters, and the tedious computation of the regression matrix. Novel passivity properties of the NN controller are stated and proven. ©1999 John Wiley & Sons, Inc. [ABSTRACT FROM AUTHOR]
Databáze:	Complementary Index
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