Position/Force Tracking Impedance Control for Robotic Systems with Uncertainties Based on Adaptive Jacobian and Neural Network.
Jinzhu PengZeqi YangTianlei MaPublished in: Complex. (2019)
Keyphrases
- impedance control
- robotic systems
- position control
- neural network
- robotic manipulator
- manipulation tasks
- force control
- model free
- optimal control
- end effector
- vision system
- real time
- control architecture
- control scheme
- back propagation
- robot manipulators
- mobile robot
- closed loop
- degrees of freedom
- control strategies
- control system
- joint angles
- fault diagnosis
- position and orientation
- autonomous robots
- artificial neural networks
- robot arm
- motor control
- multi robot