A stable adaptive force/position controller for a C5 parallel robot: a neural network approach.
Brahim AchiliBoubaker DaachiYacine AmiratArab Ali ChérifM. E. DaâchiPublished in: Robotica (2012)
Keyphrases
- neural network
- parallel robot
- adaptive neural
- adaptive fuzzy
- lyapunov theory
- adaptive control
- position control
- robotic manipulator
- neural controller
- artificial neural networks
- nonlinear systems
- impedance control
- control system
- fuzzy logic
- degrees of freedom
- force control
- control method
- lyapunov function
- sliding mode control
- real time
- cmac neural network
- end effector
- control algorithm
- bp neural network
- neural network model
- fault diagnosis
- back propagation
- position and orientation
- motion planning
- dynamic model
- single neuron
- particle swarm optimization
- three dimensional