[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5302/J.ICROS.2002.8.4.338

Experimental Studies on Neural Network Force Tracking Control Technique for Robot under Unknown Environment

Jeong, Seul (Dept. of Mechatronics Engineering, Chungnam National University)
Yim, Sun-Bin (Dept. of Mechatronics Engineering, Chungnam National University)

Publication Information

Journal of Institute of Control, Robotics and Systems / v.8, no.4, 2002 , pp. 338-344 More about this Journal

Abstract

In this paper, neural network force tracking control is proposed. The conventional impedance function is reformulated to have direct farce tracking capability. Neural network is used to compensate for all the uncertainties such as unknown robot dynamics, unknown environment stiffness, and unknown environment position. On line training signal of farce error for neural network is formulated. A large x-y table is built as a test-bed and neural network loaming algorithm is implemented on a DSP board mounted in a PC. Experimental studies of farce tracking on unknown environment for x-y table robot are presented to confirm the performance of the proposed technique.

Keywords

impedance farce control; robot manipulator; neural network; training signal; uncertainties;

Citations & Related Records

Times Cited By KSCI : 4 (Citation Analysis)

Reference
Cited By KSCI

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KSCI

Experimental Studies on Neural Network Force Tracking Control Technique for Robot under Unknown Environment 미정보 환경 하에서 신경회로망 힘추종 로봇 제어 기술의 실험적 연구

Experimental Studies on Neural Network Force Tracking Control Technique for Robot under Unknown Environment