A Research on Impedance Control Based on ANN Inverse System for Robot Manipulator
2014 ◽
Vol 687-691
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pp. 560-563
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Keyword(s):
Because of lacking the imprecise mathematical model is a difficult problem in the area of dynamic control for robot manipulator. In this paper, a novel scheme which can realize the decoupling for robot by ANN inverse system in the inner loop and control the position and force in the outer loop is presented. The method is studied in the environment of Matlab and is realized by a manipulator in Lab. Analyzed from the experiment result, this algorithm is very feasible and it provides a basis for the further research.
2014 ◽
Vol 687-691
◽
pp. 548-551
2022 ◽
2013 ◽
Vol 325-326
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pp. 999-1003
Keyword(s):
2021 ◽
Vol 1802
(2)
◽
pp. 022067
2014 ◽
Vol 1025-1026
◽
pp. 298-301
Keyword(s):