Fuzzy neural network-based adaptive impedance force control design of robot manipulator under unknown environment

Wei Chen Wang, Ching Hung Lee

研究成果: Conference contribution同行評審

12 引文 斯高帕斯(Scopus)

摘要

In this paper, an adaptive impedance force control scheme for an n-link robot manipulator under unknown environment is proposed. The system dynamics of the robot manipulator is assumed that system model is not exactly known or has system uncertainty. Therefore, the traditional adaptive impedance force controller is not valid. Herein, the fuzzy neural networks are adopted to estimate the system model terms of robot and the force tracking control is developed by the proposed adaptive scheme. The proposed scheme is established by gradient descent approach. Using the Lyapunov stability theory, the update laws of fuzzy neural networks can be derived and the stability of the closed-loop system is guaranteed. Finally, simulation results of a two-link robot manipulator with environment constraint are introduced to illustrate the performance and effectiveness of our approach.

原文English
主出版物標題Proceedings of the 2014 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1442-1448
頁數7
ISBN(電子)9781479920723
DOIs
出版狀態Published - 4 9月 2014
事件2014 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2014 - Beijing, China
持續時間: 6 7月 201411 7月 2014

出版系列

名字IEEE International Conference on Fuzzy Systems
ISSN(列印)1098-7584

Conference

Conference2014 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2014
國家/地區China
城市Beijing
期間6/07/1411/07/14

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