Force Sensorless Admittance Control With Neural Learning for Robots With Actuator Saturation

Abstract

In this paper, we present a sensorless admittance control scheme for robotic manipulators to interact with unknown environments in the presence of actuator saturation. The external environment are defined as linear models with unknown dynamics. Using admittance control, the robotic manipulator is controlled to be compliant to external torque from the environment. The external torque acted on the end-effector is estimated by using a disturbance observer based on generalized momentum. The model uncertainties are solved by using radial basis neural networks. To guarantee the tracking performance and tackle the effect of actuator saturation, an adaptive neural network (NN) controller integrating an auxiliary system is designed to handle the actuator saturation is proposed. By employing Lyapunov stability theory, the stability of the closed-loop system is achieved. The experiments on Baxter robot are implemented to verify the the effectiveness of the proposed method.

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