In this paper a neural network force/position control scheme is proposed to compensate uncertainties in both robot dynamics and unknown environment. The proposed impedance control allows us to regulate force directly by specifying a desired force. Training signals are proposed for a feed forward neural network controller. The robustness analysis of the uncertainties in environment position is p...

This paper presents a new method of trajectory planning in rehabilitation robotics. First were measured in healthy subject the pick to place trajectories while haptic robot is in zero impedance space. B-spline approximation is used to mathematically define the measured paths. This trajectory path serves as a central line for the rounding haptic tunnel. In addition to radial elastic and damping ...

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...

A new strategy has been developed for preclslon deburrlng and grinding to guarantee burr removal whlle compensating for robot oscillatrons and small uncertaintles in the location of the part relatlve to the robot. Thls problem has been posed as a frequency domaln control problem. Electronic cornpllancy (impedance control) Is demanded as an "adaptwe" mechsnlsm to satisfy the requlrements of this...

A strategy to improve the performance of current commercial industrial robots is presented in this paper. This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot. The RCID is a small six degrees-of-freedom (DOF) high bandwidth force–impedance controlled parallel manipulator, developed at the School of Engin...

This article presents distributed impedance as a new approach for multiple robot system control. In this approach, each cooperating manipulator is controlled by an independent impedance controller. In addition, along selected degrees of freedom, force control is achieved through an external loop, to improve control of the object’s internal loading. Extensive stability analysis is performed, bas...

Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is de...

parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. these parameters are particularly needed in implementation of a model-based controller for robot manipulators. in this paper, the inertial parameters of a manipulated rigid-body object have been estimated. the newton-euler equations will be employe...