Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control

DOI10.1016/J.AUTOMATICA.2006.12.019zbMATH Open1123.93070OpenAlexW2145066084MaRDI QIDQ2641802FDOQ2641802

Authors Yiannis Karayiannidis, George A. Rovithakis, Z. Doulgeri

Publication date 23 August 2007

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2006.12.019

zbMATH Keywords

robotic manipulatorcompliant contactforce/position trackingcontact uncertaintiesdynamic model uncertaintiesneuro-adaptive control

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

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• scientific article; zbMATH DE number 1443104 (Why is no real title available?)
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• Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
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• Variable structure adaptive motion and force control of robot manipulators

Cited in

(11)

• Position/force tracking impedance control for robotic systems with uncertainties based on adaptive Jacobian and neural network
• Adaptive stiffness estimation for compliant robotic manipulation using stochastic disturbance models
• Robust adaptive neuro-fuzzy controller for hybrid position/force control of robot manipulators in contact with unknown environment
• A position/force control for a robot finger with soft tip and uncertain kinematics
• Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller
• scientific article; zbMATH DE number 1843114 (Why is no real title available?)
• Adaptive position/force control for robot manipulators in contact with a rigid surface with uncertain parameters
• Dynamic learning from adaptive neural control of uncertain robots with guaranteed full-state tracking precision
• Fuzzy-neuro position/force control for robotic manipulators with uncertainties
• Adaptive fuzzy containment control for nonlinear multi-agent systems with input delay
• scientific article; zbMATH DE number 1728767 (Why is no real title available?)

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