Adaptive Impedance Force Controller Design for Robot Manipulator including Actuator Dynamics

Zong Yu Jhan, Ching Hung Lee*

*此作品的通信作者

研究成果: Article同行評審

8 引文 斯高帕斯(Scopus)

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.

原文English
頁(從 - 到)1739-1749
頁數11
期刊International Journal of Fuzzy Systems
19
發行號6
DOIs
出版狀態Published - 1 12月 2017

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