Impedance Control of Robot Manipulator Using Artificial Intelligence

被引：0
|
作者：
Kim, Han Me [1 ]
Lee, Chang Don [2 ]
Kim, Doo Hyeong [2 ]
Park, Kyoung Taik [2 ]
机构：
[1] KIMM, Environm & Energy Syst Res Div, Daejon, South Korea
[2] KIMM, Nano Fus Prod Syst Res Div, Daejon, South Korea
来源：
INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年
关键词：
Impedance control; sliding mode control; radial basis function neural networks;
D O I：
暂无
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 paper deals with a sliding mode impedance control (SMIC) of end-effector of robot manipulator using a tracking control scheme and a real-time artificial intelligence algorithm based on a radial basis function neural networks(RBFNNs). To real-time estimate the design parameters of desired impedance model such as desired inertia, damping, and stiffness desired impedance, SMIC(sliding mode impedance control) with RBFNNs algorithm is proposed.
引用
收藏
页码：1891 / 1894
页数：4
相关论文
共 50 条
  • [31] Development a Force Feedback Control of Robot Manipulator
    Ibrahim, Khalil
    Ali, Ahmed S.
    PROCEEDINGS OF 2016 THE 2ND INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, 2016, : 34 - 37
  • [32] Safe and intuitive manual guidance of a robot manipulator using adaptive admittance control towards robot agility
    Reyes-Uquillas, Daniel
    Hsiao, Tesheng
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2021, 70
  • [33] Trajectory Tracking Control of an Industrial Robot Manipulator Using Fuzzy SMC with RBFNN
    Gokhan, Ayca A. K.
    Cansever, Galip
    Delibasi, Akin
    GAZI UNIVERSITY JOURNAL OF SCIENCE, 2015, 28 (01): : 141 - 148
  • [34] Impedance Control of the 3RPS Parallel Manipulator
    Arabshahi, Hannaneh Z.
    Novinzadeh, Alireza B.
    2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2014, : 486 - 492
  • [35] Impedance Control of Ankle Rehabilitation Robot
    Tsoi, Y. H.
    Xie, S. Q.
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, 2009, : 840 - 845
  • [36] Robot impedance control with nondiagonal stiffness
    Caccavale, F
    Siciliano, B
    Villani, L
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1999, 44 (10) : 1943 - 1946
  • [37] The tricept robot: Dynamics and impedance control
    Caccavale, F
    Siciliano, B
    Villani, L
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2003, 8 (02) : 263 - 268
  • [38] Impedance control for biped robot locomotion
    Park, JH
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001, 17 (06): : 870 - 882
  • [39] Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control
    Kong, Dexin
    Huang, Qingjiu
    ACTUATORS, 2023, 12 (08)
  • [40] Impedance control based on error feedback for the manipulator of an underwater vehicle-manipulator system
    Taira, Yuichiro
    Sagara, Shinichi
    Oya, Masahiro
    ARTIFICIAL LIFE AND ROBOTICS, 2023, 28 (04) : 830 - 849
12345