Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Tracking control based on neural network strategy for robot manipulator

This study presents a sliding-mode neural-network (SMNN) control system for the tracking control of an n rigid-link robot manipulator to achieve high-precision position control. The aim of this study is to overcome some of the shortcomings of conventional robust controllers such as a model-based adaptive controller requires the system dynamics in detail; the fuzzy rule learning scheme has a lat...

Model-Independent Control of a Flexible-Joint Robot Manipulator

Flexibility at the joint of a manipulator is an intrinsic property. Even “rigid-joint” robots, in fact, possess a certain amount of flexibility. Previous experiments confirmed that joint flexibility should be explicitly included in the model when designing a high-performance controller for a manipulator because the flexibility, if not dealt with, can excite system natural frequencies and cause ...

On Control of Free - Flying Space Robot Manipulator Systems

Neural network impedance force control of robot manipulator

Performance of impedance controller for robot force tracking is aaected by the uncertainties in both the robot dynamic model and environment stiiness. The purpose of this paper is to improve the controller ro-bustness by applying the neural network(NN) technique to compensate for the uncertainties in the robot model. NN control techniques are applied to two impedance control methods : torque-ba...

adaptive control of two-link robot manipulator based on the feedback linearization method and the proposed neural network

This paper proposes an adaptive control method based on the feedback linearization technique and a proposed neural network,  for tracking and position control of an industrial manipulator. At first, it is assumed that the dynamics of the system are known and the control signal is constructed  by the feedback linearization method. Then to eliminate the effects of the uncertainties and external d...