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Author Wei-Chen Wang ♦ Ching-Hung Lee
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2014
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Special computer methods
Subject Keyword Impedance ♦ Fuzzy neural networks ♦ Force ♦ Fuzzy control ♦ Force control ♦ Manipulators
Abstract In this paper, an adaptive impedance force control scheme for an n-link robot manipulator under unknown environment is proposed. The system dynamics of the robot manipulator is assumed that system model is not exactly known or has system uncertainty. Therefore, the traditional adaptive impedance force controller is not valid. Herein, the fuzzy neural networks are adopted to estimate the system model terms of robot and the force tracking control is developed by the proposed adaptive scheme. The proposed scheme is established by gradient descent approach. Using the Lyapunov stability theory, the update laws of fuzzy neural networks can be derived and the stability of the closed-loop system is guaranteed. Finally, simulation results of a two-link robot manipulator with environment constraint are introduced to illustrate the performance and effectiveness of our approach.
Description Author affiliation: Dept. of Mech. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan (Wei-Chen Wang; Ching-Hung Lee)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2014-07-06
Publisher Place China
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479920723
Size (in Bytes) 3.20 MB
Page Count 7
Starting Page 1442
Ending Page 1448


Source: IEEE Xplore Digital Library