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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.14 No.1
- 발행연도
- 2014.3
- 수록면
- 17 - 25 (9page)
이용수
이 논문의 연구 히스토리 (5)
1994
On-Line Neural Network Control of Robot Manipulators
Seul Jung
,
T. C. Hsia
ICONIP : International Conference On Neural Information Processing
1994.01
학술대회자료
Neural Network Inverse Control of Robot Manipulators
Seul Jung
,
T. C. Hsia
ICONIP : International Conference On Neural Information Processing
1994.01
학술대회자료
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
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초록· 키워드
오류제보하기
This paper presents the formulation of an impedance controller for regulating the contact force with the environment. To achieve an accurate force tracking control, uncertainties in both robot dynamics and the environment require to be addressed. As part of the framework of the proposed force tracking formulation, a neural network is introduced at the desired trajectory to compensate for all uncertainties in an on-line manner. Compensation at the input trajectory leads to a remarkable structural advantage in that no modifications of the internal force controllers are required. Minimizing the objective function of the training signal for a neural network satisfies the desired force tracking performance. A neural network actually compensates for uncertainties at the input trajectory level in an on-line fashion. Simulation results confirm the position and force tracking abilities of a robot manipulator.
목차
Abstract
1. Introduction
2. Review of Impedance Control
3. Neural Network Force Control
4. Neural Network Learning Algorithm
5. Simulation Results
6. Conclusion
References
참고문헌 (27)
참고문헌 신청
1. [학술대회논문] - D. M. Kim / 2007 / Tracking control of a moving object for robokers with stereo visual feedback / IEEE International Conference on Integration Technology : 52 ~ 57
2. [학술지(정기간행물)] - N. Hogan / 1985 / Impedance control: an approach to manipulation. Part ITheory / Journal of Dynamic Systems, Measurement, and Control 107 (1) : 1 ~ 7
3. [학술지(정기간행물)] - N. Hogan / 1985 / Impedance control: an approach to manipulation. Part IIImplementation / Journal of Dynamic Systems, Measurement, and Control 107 (1) : 8 ~ 16
4. [학술지(정기간행물)] - N. Hogan / 1985 / Impedance control: an approach to manipulation. Part IIIApplications / Journal of Dynamic Systems, Measurement, and Control 107 (1) : 17 ~ 24
5. [학술지(정기간행물)] - M. H. Raibert / 1981 / Hybrid position/force control of manipulators / Journal of Dynamic Systems, Measurement, and Control 103 (2) : 126 ~ 133
2. [학술지(정기간행물)] - N. Hogan / 1985 / Impedance control: an approach to manipulation. Part ITheory / Journal of Dynamic Systems, Measurement, and Control 107 (1) : 1 ~ 7
3. [학술지(정기간행물)] - N. Hogan / 1985 / Impedance control: an approach to manipulation. Part IIImplementation / Journal of Dynamic Systems, Measurement, and Control 107 (1) : 8 ~ 16
4. [학술지(정기간행물)] - N. Hogan / 1985 / Impedance control: an approach to manipulation. Part IIIApplications / Journal of Dynamic Systems, Measurement, and Control 107 (1) : 17 ~ 24
5. [학술지(정기간행물)] - M. H. Raibert / 1981 / Hybrid position/force control of manipulators / Journal of Dynamic Systems, Measurement, and Control 103 (2) : 126 ~ 133
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