NDLI: Hard contact surface tracking for industrial manipulators with (SR) position based force control

Content Provider	IEEE Xplore Digital Library
Author	Maas, R. Zahn, V. Dapper, M. Eckmiller, R.
Copyright Year	1999
Description	Author affiliation: Dept. of Comput. Sci., Bonn Univ., Germany (Maas, R.)
Abstract	We present a novel control concept that solves a wide range of surface tracking tasks for manipulators with defined contact to (moving) rigid objects. The position based neural force control (NFC-P) consists of a hybrid force/position controller that accurately generates contact forces to objects with arbitrary flexibility and uncertain distance or shape. NFC-P performs force control by modifying the desired joint angle changes in force direction. These are fed into a computed torque controller, where the inverse dynamics of the manipulator is represented by neural networks. NFC-P includes a neural trajectory generating tool for smooth and kinematical valid contact trajectories with the possibility to adapt the trajectories to the unknown shape of the surface online. The kinematical mappings guarantee singularity robustness (SR) in the entire workspace. Results from real-time experiments are presented using a 6-DOF industrial manipulator as testbed.
Starting Page	1481
Ending Page	1486
File Size	556733
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.772569
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Strontium Force control Shape control Manipulator dynamics Hybrid power systems Computer networks Torque control Neural networks Robustness Testing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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