Robust neural force control with robot dynamic uncertainties under totally unknown environment

Abstract

In this paper, a new robust robot force tracking impedance control scheme that uses neural network as a compensator is proposed. The proposed neural com-pensator has the capability of making the robot to track a speciied desired force as well as of compensating for uncertainties in environment location and stiiness, and the uncertainties in robot dynamics… (More)
DOI: 10.1109/IROS.1996.570857

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