NDLI: Force control of a Scara robot using neural networks

Content Provider	IEEE Xplore Digital Library
Author	Passold, F. Stemmer, M.R.
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. Eng., Passo Fundo Univ., Brazil (Passold, F.)
Abstract	This paper describes experimental results achieved by applying artificial neural networks (NNs) in trying to perform force/position control of a real Scara manipulator robot. The general control strategy consists of a neural controller that operates in parallel with a conventional controller based on feedback error learning architecture. Two NNs are used: one for the position loop control and another to the force loop control based on the structure known as the hybrid force/position control. The main purpose was to let the NNs compensate the dynamical effects that arises when a manipulator is in contact with an environment. Successful results have been achieved for the position loop control but practical problems were observed which are related to the force loop control using NNs even with different sets of input data for this NN. Practical problems are discussed.
Sponsorship	Poznan Univ. of Technol., Inst. of Control and Syst. Eng. IEEE Robotics and Automation Soc., Poland Section Chapter IEEE Robotics and Automation Soc
Starting Page	247
Ending Page	252
File Size	420864
Page Count	6
File Format	PDF
ISBN	8371432720
DOI	10.1109/ROMOCO.2004.240735
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-20
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Poznan Univ. of Technol.
Subject Keyword	Force control Neural networks Robotics and automation Service robots Manipulators Position control Robot sensing systems Force sensors Impedance Motion control
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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