Design of optimal hybrid position/force controller for a robot manipulator using neural networks

DOI10.1155/2007/65028zbMath1348.70075OpenAlexW1978763927MaRDI QIDQ936188

Vikas Panwar, Nagarajan Sukavanam

Publication date: 13 August 2008

Published in: Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2007/65028

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Synthesis problems (93B50) Robot dynamics and control of rigid bodies (70E60)

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Cites Work

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• Multilayer feedforward networks are universal approximators
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Impedance Control: An Approach to Manipulation: Part II—Implementation
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Feedback stabilization and tracking of constrained robots
• Force/motion control of constrained robots using sliding mode
• Compliant motion control for non-redundant rigid robotic manipulators
• Quadratic optimization of motion coordination and control
• Intelligent optimal control of robotic manipulators using neural networks

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