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

DOI10.1016/J.AUTOMATICA.2006.12.019zbMath1123.93070OpenAlexW2145066084MaRDI QIDQ2641802

Zoe Doulgeri, Yiannis Karayiannidis, George A. Rovithakis

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

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

Related Items (3)

Dynamic learning from adaptive neural control of uncertain robots with guaranteed full-state tracking precision ⋮ Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller ⋮ Adaptive fuzzy containment control for nonlinear multi-agent systems with input delay

Cites Work

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• A position/force control for a robot finger with soft tip and uncertain kinematics
• Stable adaptive neuro-control design via Lyapunov function derivative estimation

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