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NN Controller of the Constrained Robot under Unknown Constraint Shenghai Hu, Marcelo H. Ang Jr.*, and H. Krishnan
 

Summary: NN Controller of the Constrained Robot under Unknown Constraint
Shenghai Hu, Marcelo H. Ang Jr.*, and H. Krishnan
Dept of Mechanical and Production Engineering
National University of Singapore
Singapore 119260
*mpeangh@nus.edu.sg
Abstract
In this paper, the problems faced in the constrained
force control is studied (uncertainties in dynamic model
and the unknown constraints). A neural network (NN)
controller is proposed based on the derived dynamic
model of robot in the task space. The feed-forward neural
network is used to adaptively compensate for the
uncertainties in the robot dynamics. Training signals are
proposed for the feed-forward neural network controller.
The NN weights are tuned on-line, with no off-line
learning phase required. An on-line estimation algorithm
is developed to estimate the local shape of the constraint
surface by using measured data on the force and position
of the end-effector. The suggested controller is simple in

  

Source: Ang Jr.,, Marcelo H. - Department of Mechanical Engineering, National University of Singapore

 

Collections: Engineering