TY - GEN
T1 - Robot manipulator hybrid control for an unknown environment using visco-elastic neural networks
AU - Kiguchi, K.
AU - Fukuda, T.
N1 - Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0031646096&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031646096&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1998.677308
DO - 10.1109/ROBOT.1998.677308
M3 - Conference contribution
AN - SCOPUS:0031646096
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1447
EP - 1452
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -