REAL-TIME IMPLEMENTATION OF A PD+DFNNS CONTROLLER FOR COMPLIANCE ROBOT
This paper presents the compliance control of a robot manipulator under a constrained environment. The controller design proposed herein is based on the intelligence adaptive control scheme. In this design, the DFNNs (Dynamic Fuzzy Neural Networks) and PD feedback controllers control the position and the contact force of robot end-effector. The DFNNs controller is employed to compensate for environmental variations such as payload mass and disturbance torque during the operation process; PD feedback controllers control the position and the contact force of end-effector. Applying these controllers allows us to adapt the manipulator to the unknown surface of the surrounding environment and to have close contact with the curved surface.
Compliance control Feedback PD DFNNs Robot manipulator
LI-LING WANG XU-AO LU JIN-ZHUANG XIAO HONG-RUI WANG
College of Electronic and Information Engineering, Hebei University, Baoding 071002, China Dynamic Engineering Department, North China Electrical Power University, Baoding 071002, China
国际会议
2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)
大连
英文
448-451
2006-08-13（万方平台首次上网日期，不代表论文的发表时间）