Adaptive Impedance Force Controller Design for Robot Manipulator including Actuator Dynamics

被引：9

作者：

Jhan, Zong-Yu ^{[1
]}

Lee, Ching-Hung ^{[1
]}

机构：

[1] Natl Chung Hsing Univ, Dept Mech Engn, Taichung 402, Taiwan

来源：

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS | 2017年 / 19卷 / 06期

关键词：

Force control; Adaptive control; Fuzzy neural system; Robot manipulator; Actuator dynamics; FUZZY NEURAL SYSTEMS; REGRESSOR MATRIX; INDUSTRIAL ROBOT; MOTOR DYNAMICS; IDENTIFICATION; ENVIRONMENTS; NETWORKS; SCHEME;

D O I：

10.1007/s40815-017-0358-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study proposes an adaptive impedance force control using fuzzy neural networks (FNNs) for robot manipulator including actuator dynamics with uncertainties and operated in unknown environment. The system uncertainties are estimated by FNNs, and the corresponding adaptive impedance control is derived based on Lyapunov stability approach. Besides, the stiffness coefficient of contact environment is estimated by gradient method with convergent theory. The proposed approach does not calculate the regressor matrix which is a significant simplification in implementation. Simulation results are introduced to illustrate the effectiveness and performance of our approach.

引用

页码：1739 / 1749

页数：11

共 46 条

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