Neural-Impedance Control for Robots Contact Tasks
| Autor: | Yang, Wei-Sheng, 楊偉勝 |
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| Rok vydání: | 1998 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 86 A neural-impedance controller is proposed in this thesis.The objective of this controller is to track a reference force in the presence of unknown environment dynamics during constraint motion. This controller consists of an impedance controller and an online-training neural network. The function of neural network is to learn the relation between the states and the reference position input in the impedance system with unknown environment, or says to learn the "Target Impedance." If it consists errors in contact force signal, the online-training mechanism can regulate the weight in the neural network to make the signal fits the force command. Furthermore, the proposed neural-impedance controlleris also applied to dual-arm robot. Simulation results show that the proposed neural-impedance controller has satisfactory performance. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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