Hybrid position/force control of uncertain robotic systems using neural networks

신경회로망을 이용한 불확실한 로봇 시스템의 하이브리드 위치/힘 제어

  • Kim, Seong-U ;
  • Lee, Ju-Jang (Dept. of Electrical Electronic Engineering, Korea Advanced Institute of Science and Technology)
  • 김성우 (현대전자산업(주) 생산기술연구소 생산시스템실) ;
  • 이주장 (한국과학기술원 전기 및 전자공학과)
  • Published : 1997.06.01

Abstract

This paper presents neural networks for hybrid position/force control which is a type of position and force control for robot manipulators. The performance of conventional hybrid position/force control is excellent in the case of the exactly-known dynamic model of the robot, but degrades seriously as the uncertainty of the model increases. Hence, the neural network control scheme is presented here to overcome such shortcoming. The introduced neural term is designed to learn the uncertainty of the robot, and to control the robot through uncertainty compensation. Further more, the learning rule of the neural network is derived and is shown to be effective in the sense that it requires neither desired output of the network nor error back propagation through the plant. The proposed scheme is verified through the simulation of hybrid position/force control of a 6-dof robot manipulator.

Keywords

References

  1. Trans. ASME:J. of Dynamic Systems. Measurement, and Control v.107 Impedance control: Anapproach to manipulation: Part Ⅰ-Theory, Part Ⅱ-Implementation, Part Ⅲ-Applications N. Hogan
  2. Trans. ASME J. of Dynamic Systems, Measurement, and Control v.102 Hybrid position/force control of manipulators M.H. Raibert;J.J. Craig
  3. IEEE J. Robotics and Automation v.3 no.1 A unified approach for motion and force control of robot manipulators: The operational space formulation O. Khatib
  4. IEEE J. Robotics and Automation v.3 no.5 Dynamic hybrid position/force control of robot manipulators- Description of hand constraints and calculation of joint driving forces T. Yoshikawa
  5. Proc. IEEE Int. Conf. Robotics and Automation Robust hybrid control of robot manipulators Y.H. Chen;S. Pandey
  6. Introduction to robotics:Mechnics and control(2nd ed.) J.J. Craig
  7. IEEE Trans. Automatic Control. v.33 no.5 Feedback stabilization and tracking of constrained robots N.H. McClamroch;D. Wang
  8. IEEE Trans. Aerospace and Electornic Systems v.30 no.2 Adaptive variable structure tracking control for constrained robots C.Y. Su;Y. Stepanenko
  9. Int. J. of Robotics Research v.6 no.1 Historical perspective and state of the art in robot control D. E. Whiteney
  10. Applied Nonlinear Control J.J. E. Slotine;W. Li
  11. Automatica v.28 no.6 Neural networks for control systems-A survey K.J. Hunt;D. Sbarbaro;R. Zbikowski;P.J. Gawthrop
  12. IEEE Trans. Neural Networks v.1 no.1 Identification and control of dynamical systems using neural networks K. S. Narendra;K. Parthasarathy
  13. IEEE Control Systems Magazine A multilayered neural network controller D. Psaltis;A. Sideris;A.A. Yamamura
  14. IEEE Trans. Industrial Electronics v.39 no.6 Neuromorphic control: Adaptation and learning T. Fukuda;T. Shibata;M. Tokita;T. Mitsuoka
  15. IEEE Control Systems Magazine Hierarchical neural network model for voluntary movement with application to robotics M. Kawato;Y. Uno;M. Isobe;R. Suzuki
  16. IEEE Trans. Industrial Electronics v.39 no.6 A neural network compensator for uncertainties of robotics manipulators A. Ishiguro;T. Furuhashi;S. Okuma;Y. Uchikawa
  17. IEEE Trans. Industrial Electronics v.41 no.2 Adaptive robot control using neural networks M. Saaf;P. Bigras;L.A. Dessaint;K. AI-Haddad
  18. 제어·자동화·시스템공학회 논문지 v.1 no.2 불확실성이 있는 로봇 시스템의 역모델 학습에 의한 신경회로망 제어 김성우;이주장
  19. Control of robot manipulators F.L. Lewis;C.T. Abdallah;D.M. Dawson
  20. 박사학위논문 한국과학기술원 전기 및 전자공학과 불확실한 로봇 시스템의 안정성을 보장하는 신경회로망의 학습 및 제어 김성우
  21. IEEE Trans. Robotics and Automation v.9 no.4 The parallel approach to force/position control of robotic manipulators S. Chiaverini;L. Sciavicco