Brief paper: Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control

Authors:
Yiannis Karayiannidis;George Rovithakis;Zoe Doulgeri
Affiliations:
Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki 54124, Greece;Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki 54124, Greece;Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki 54124, Greece
Venue:
Automatica (Journal of IFAC)
Year:
2007

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Abstract

The problem of force/position tracking for a robotic manipulator in compliant contact with a surface under non-parametric uncertainties is considered. In particular, structural uncertainties are assumed to characterize the compliance and surface friction models, as well as the robot dynamic model. A novel neuro-adaptive controller is proposed, that exploits the approximation capabilities of the linear in the weights neural networks, guaranteeing the uniform ultimate boundedness of force and position error with respect to arbitrarily small sets, plus the boundedness of all signals in the closed loop. Simulations highlight the approach.