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|Title:||NN controller of the constrained robot under unknown constraint|
Ang Jr., M.H.
|Citation:||Hu, S.,Ang Jr., M.H.,Krishnan, H. (2000). NN controller of the constrained robot under unknown constraint. IECON Proceedings (Industrial Electronics Conference) 3 : 2123-2128. ScholarBank@NUS Repository.|
|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 structure and can be implemented easily. Real-time Experiments are conducted using the five-bar robot to demonstrate the effectiveness of the proposed controller.|
|Source Title:||IECON Proceedings (Industrial Electronics Conference)|
|Appears in Collections:||Staff Publications|
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