請用此 Handle URI 來引用此文件: http://hdl.handle.net/11455/95509
標題: Adaptive Impedance Force Controller Design for Robot Manipulator including Actuator Dynamics
作者: Zong-Yu Jhan
李慶鴻
Ching-Hung Lee
關鍵字: Force control
Adaptive control
Fuzzy neural system
Robot manipulator
Actuator dynamics
出版社: INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
摘要: This study proposes an adaptive impedance force control using fuzzy neural networks (FNNs) for robot manipulator including actuator dynamics with uncertainties and operated in unknown environment. The system uncertainties are estimated by FNNs, and the corresponding adaptive impedance control is derived based on Lyapunov stability approach. Besides, the stiffness coefficient of contact environment is estimated by gradient method with convergent theory. The proposed approach does not calculate the regressor matrix which is a significant simplification in implementation. Simulation results are introduced to illustrate the effectiveness and performance of our approach.
URI: http://hdl.handle.net/11455/95509
文章連結: https://link.springer.com/article/10.1007/s40815-017-0358-2
顯示於類別:機械工程學系所

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