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
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