Repozytorium Uniwersytetu Zielonogórskiego udostępnia 9 387 obiektów cyfrowych
Obiekt
Tytuł: Dynamic external force feedback loop control of a robot manipulator using a neural kompensator-Application to the trajectory following in an unknown environment
Contributor:
Group publication title:
Abstract:
Force/position control strategies provide an effective framework to deal with tasks involving interaction with the environment. One of these strategies proposed in the literature is external force feedback loop control. It fully employs the available sensor measurements by operating the control action in a full dimensional space without using selection matrices. The performance of this control strategy is affected by uncertainties in both the robot dynamic model and environment stiffness. ; The purpose of this paper is to improve controller robustness by applying a neural network technique in order to compensate the effect of uncertainties in the robot model. We show that this control strategy is robust with respect to payload uncertainties, position and environment stiffness, and dry and viscous friction. Simulation results for a three degrees-of-freedom manipulator and various types of environments and trajectories show the effectiveness of the suggested approach compared with classical external force feedback loop structures.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 19, number 1 (2009) ; kliknij tutaj, żeby przejść
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2009)
Data ostatniej modyfikacji:
14 lip 2025
Data dodania obiektu:
8 kwi 2024
Liczba wyświetleń treści obiektu:
112
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/88530
Wyświetl opis w formacie RDF:
Wyświetl opis w formacie OAI-PMH:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 1 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 2 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 3 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 4 (2009)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Obiekty Podobne
Dulęba, Ignacy Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Rodríguez-Linán, María del Carmen Mendoza, Marco Bonilla, Isela Chávez-Olivares, César Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Bonilla, Isela Mendoza, Marco Campos-Delgado, Daniel U. Hernández-Alfaro, Diana E.. Puig, Vicenç - ed. Sauter, Dominique - ed. Aubrun, Christophe - ed. Schulte, Horst - ed.
Bańka, Stanisław Dworak, Paweł Jaroszewski, Krzysztof Makowski, Ryszard - ed. Zarzycki, Jan - ed.
Dzieliński, Andrzej Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Ławryńczuk, Maciej Korbicz, Józef (1951- ) - ed.
Denai, Azzedine Mouloud Attia, Sid Ahmed Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Ławryńczuk, Maciej Tatjewski, Piotr Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
