Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control

被引：65

作者：

Karayiannidis, Yiannis ^{[1
]}

Rovithakis, George ^{[1
]}

Doulgeri, Zoe ^{[1
]}

机构：

[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece

来源：

AUTOMATICA | 2007年 / 43卷 / 07期

关键词：

force/position tracking; robotic manipulator; compliant contact; contact uncertainties; dynamic model uncertainties; neuro-adaptive control;

D O I：

10.1016/j.automatica.2006.12.019

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of force/position tracking for a robotic manipulator in compliant contact with a surface under non-parametric uncertainties is considered. In particular, structural uncertainties are assumed to characterize the compliance and surface friction models, as well as the robot dynamic model. A novel neuro-adaptive controller is proposed, that exploits the approximation capabilities of the linear in the weights neural networks, guaranteeing the uniform ultimate boundedness of force and position error with respect to arbitrarily small sets, plus the boundedness of all signals in the closed loop. Simulations highlight the approach. (c) 2007 Elsevier Ltd. All rights reserved.

引用

页码：1281 / 1288

页数：8

共 27 条

[1]

Ambrosi G, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P305, DOI 10.1109/ROBOT.1999.769996

[2] Dynamics and control of a set of dual fingers with soft tips [J].

Arimoto, S ;

Nguyen, PTA ;

Han, HY ;

Doulgeri, Z .

ROBOTICA, 2000, 18 (01) :71-80

[3]

ARIMOTO S, 1993, PROCEEDINGS : IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, P618, DOI 10.1109/ROBOT.1993.292047

[4]

Arimoto S, 1996, CONTROL THEORY NONLI

[5] ADAPTIVE FORCE CONTROL OF ROBOT MANIPULATORS [J].

CARELLI, R ;

KELLY, R ;

ORTEGA, R .

INTERNATIONAL JOURNAL OF CONTROL, 1990, 52 (01) :37-54

[6] Stability of hybrid-position and force control for robotic manipulator with kinematics and dynamics uncertainties [J].

Cheah, CC ;

Kawamura, S ;

Arimoto, S .

AUTOMATICA, 2003, 39 (05) :847-855

[7] FORCE POSITION REGULATION OF COMPLIANT ROBOT MANIPULATORS [J].

CHIAVERINI, S ;

SICILIANO, B ;

VILLANI, L .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1994, 39 (03) :647-652

[8] THE PARALLEL APPROACH TO FORCE POSITION CONTROL OF ROBOTIC MANIPULATORS [J].

CHIAVERINI, S ;

SCIAVICCO, L .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (04) :361-373

[9] Force and position tracking: Parallel control with stiffness adaptation [J].

Chiaverini, S ;

Siciliano, B ;

Villani, L .

IEEE CONTROL SYSTEMS MAGAZINE, 1998, 18 (01) :27-33

[10] Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators [J].

Chiu, CS ;

Lian, KY ;

Wu, TC .

AUTOMATICA, 2004, 40 (12) :2111-2119

← 1 2 3 →