Adaptive Position/Force Controller Design Using Fuzzy Neural Network and Stiffness Estimation for Robot Manipulator
Bo-Ru Tseng,
Jun-Yi Jiang,
Ching-Hung Lee
Abstract:This paper proposes an adaptive hybrid position/force control approach using fuzzy neural networks (FNNs) for a robot manipulator with joint friction compensation. The dynamics model and system uncertainties are estimated by FNNs. For force tracking control, an adaptive impedance controller is employed with an online stiffness estimator, wherein the stiffness of the contacted environment is estimated using a gradient descent algorithm. The adaptive update laws of the FNNs and the stability of the controller ar… Show more
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