TY - JOUR
T1 - Adaptive ANN-based control for constrained robot manipulators
AU - Mnif, F.
AU - Gastli, A.
AU - Jallouli, M.
PY - 2007
Y1 - 2007
N2 - An Artificial Neural Network (ANN)-based approach is proposed in this paper for the motion and force control of constrained robot manipulators. The dynamic model of constrained manipulator is modified to contain two sets of state variables, where one describes the constrained motion and the other describes the reduced, unconstrained one. An application related to a disk cutter robot is considered. The design objective is that under a prescribed radius of the disk and a desired force to be applied by the effector of the manipulator, an ANN-based control system is to be designed to develop the requested torques on the manipulator actuators. The suggested controller is simple and can be implemented easily. The main feature of employing the ANN here is that we obtained a force sensor-less control system and a good adaptation with environmental unmodelled dynamics. Simulation results are presented to validate the proposed approach.
AB - An Artificial Neural Network (ANN)-based approach is proposed in this paper for the motion and force control of constrained robot manipulators. The dynamic model of constrained manipulator is modified to contain two sets of state variables, where one describes the constrained motion and the other describes the reduced, unconstrained one. An application related to a disk cutter robot is considered. The design objective is that under a prescribed radius of the disk and a desired force to be applied by the effector of the manipulator, an ANN-based control system is to be designed to develop the requested torques on the manipulator actuators. The suggested controller is simple and can be implemented easily. The main feature of employing the ANN here is that we obtained a force sensor-less control system and a good adaptation with environmental unmodelled dynamics. Simulation results are presented to validate the proposed approach.
KW - adaptive control
KW - constrained manipulator
KW - neural network estimation
UR - http://www.scopus.com/inward/record.url?scp=78651548248&partnerID=8YFLogxK
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U2 - 10.1504/IJISTA.2007.011575
DO - 10.1504/IJISTA.2007.011575
M3 - Article
AN - SCOPUS:78651548248
SN - 1740-8865
VL - 2
SP - 77
EP - 99
JO - International Journal of Intelligent Systems Technologies and Applications
JF - International Journal of Intelligent Systems Technologies and Applications
IS - 1
ER -