Robot manipulator hybrid control for an unknown environment using visco-elastic neural networks

K. Kiguchi, T. Fukuda

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

2 被引用数 (Scopus)

抄録

Robot manipulators are expected to perform more sophisticated tasks under unlimited environment. In order to realize these tasks, the robot manipulators have to be flexible enough to work in an unknown environment. In this paper, we propose an effective adaptive neural network feedback controller for hybrid position/force control of robot manipulators for an unknown environment by applying new types of neurons which possess visco-elastic properties. The unexpected overshooting and oscillation caused by the unknown and/or unmodeled dynamics of a robot manipulator and an environment can be decreased efficiently by the proposed visco-elastic neurons. The effectiveness of the proposed visco-elastic neural network controllers is evaluated by simulation with the model of a 3-DOF direct-drive planar robot manipulator.

本文言語英語
ホスト出版物のタイトルProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1447-1452
ページ数6
ISBN(印刷版)078034300X
DOI
出版ステータス出版済み - 1月 1 1998
外部発表はい
イベント15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, ベルギー
継続期間: 5月 16 19985月 20 1998

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2
ISSN(印刷版)1050-4729

その他

その他15th IEEE International Conference on Robotics and Automation, ICRA 1998
国/地域ベルギー
CityLeuven
Period5/16/985/20/98

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「Robot manipulator hybrid control for an unknown environment using visco-elastic neural networks」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル