Constrained motion control of flexible manipulators based on a dynamic neural network

Lianfang Tian, Jun Wang, Zongyuan Mao

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

In this paper, a neural network approach is proposed for the motion control of a constrained flexible manipulator system, whereby both the contact force and the position of the endeffector contacting with a surface are controlled. The dynamic equations, vibration of the flexible link and constrained force are derived. The developed control scheme can adaptively estimate the dynamics of the manipulator by utilizing a dynamic recurrent neural network (DRNN) to approximate the underlying dynamics. Local stability of the system is discussed. The results confirm that the designed controller performs remarkably well

Original languageEnglish
Title of host publicationIEEE ICIT 2002 - 2002 IEEE International Conference on Industrial Technology
Subtitle of host publication"Productivity Reincarnation Through Robotics and Automation"
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages678-683
Number of pages6
ISBN (Electronic)0780376579
DOIs
Publication statusPublished - 2002
Externally publishedYes
EventIEEE International Conference on Industrial Technology, IEEE ICIT 2002 - Bangkok, Thailand
Duration: 11 Dec 200214 Dec 2002

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2

Conference

ConferenceIEEE International Conference on Industrial Technology, IEEE ICIT 2002
Country/TerritoryThailand
CityBangkok
Period11/12/0214/12/02

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