Radial basis functional link network and Hamilton Jacobi Issacs for force/position control in robotic manipulation.

*(English)*Zbl 1264.93159Summary: This paper works on hybrid force/position control in robotic manipulation and proposes an improved radial basis functional (RBF) neural network, which is a robust relying on the Hamilton Jacobi Issacs principle of the force control loop. The method compensates uncertainties in a robot system by using the property of RBF neural network. The error approximation of neural network is regarded as an external interference of the system, and it is eliminated by the robust control method. Since the conventionally fixed structure of RBF network is not optimal, resource allocating network (RAN) is proposed in this paper to adjust the network structure in time and avoid the underfit. Finally the advantage of system stability and transient performance is demonstrated by the numerical simulations.

##### MSC:

93C85 | Automated systems (robots, etc.) in control theory |

70E60 | Robot dynamics and control of rigid bodies |

PDF
BibTeX
XML
Cite

\textit{S. Wen} et al., Math. Probl. Eng. 2012, Article ID 568796, 10 p. (2012; Zbl 1264.93159)

Full Text:
DOI

**OpenURL**

##### References:

[1] | M. H. Raibert and J. J. Craig, “Hybrid position/force control of manipulators,” Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, vol. 103, no. 2, pp. 126-133, 1981. |

[2] | S. Y. Chen and Y. F. Li, “Determination of stripe edge blurring for depth sensing,” IEEE Sensors Journal, vol. 11, no. 2, pp. 389-390, 2011. |

[3] | S. Y. Chen, Y. F. Li, and J. Zhang, “Vision processing for realtime 3-D data acquisition based on coded structured light,” IEEE Transactions on Image Processing, vol. 17, no. 2, pp. 167-176, 2008. · Zbl 05516617 |

[4] | S. Y. Chen, H. Tong, Z. Wang, S. Liu, M. Li, and B. Zhang, “Improved generalized belief propagation for vision processing,” Mathematical Problems in Engineering, vol. 2011, Article ID 416963, 12 pages, 2011. · Zbl 1202.94026 |

[5] | C.-H. Kao, C.-F. Hsu, C.-H. Wang, and H. S. Don, “Chaos synchronization using adaptive dynamic neural network controller with variable learning rates,” Mathematical Problems in Engineering, vol. 2011, Article ID 701671, 20 pages, 2011. |

[6] | L. A. Mozelli and R. M. Palhares, “Less conservative H\infty fuzzy control for discrete-time takagi-sugeno systems,” Mathematical Problems in Engineering, vol. 2011, Article ID 361640, 21 pages, 2011. · Zbl 1213.93111 |

[7] | M. M. Belhaouane, M. F. Ghariani, H. Belkhiria Ayadi, and N. B. Braiek, “Improved results on robust stability analysis and stabilization for a class of uncertain nonlinear systems,” Mathematical Problems in Engineering, vol. 2010, Article ID 724563, 24 pages, 2010. · Zbl 1206.93082 |

[8] | Z.-Y. Xing, Y. Qin, X.-M. Pang, L.-M. Jia, and Y. Zhang, “Modelling of the automatic depth control electrohydraulic system using RBF neural network and genetic algorithm,” Mathematical Problems in Engineering, vol. 2010, Article ID 124014, 16 pages, 2010. · Zbl 1202.93097 |

[9] | A. L. Yu, “Research on the dynamic modeling based on genetic wavelet neural network for the robot wrist force sensor,” Acta Physica Sinica, vol. 57, no. 6, pp. 3385-3390, 2008. |

[10] | L. JinKun, The Design and MATLAB Simulation of Robot Control System, Tsinghua University, Beijing, China, 2008. |

[11] | C. G. Looney, “Radial basis functional link nets and fuzzy reasoning,” Neurocomputing, vol. 48, pp. 489-509, 2002. · Zbl 1006.68787 |

[12] | C. Z. Xing, Robotics, Tsinghua University, Beijing, China, 2000. |

[13] | S. Y. Chen, J. Zhang, H. Zhang, N. M. Kwok, and Y. F. Li, “Intelligent lighting control for vision-based robotic manipulation,” IEEE Transactions on Industrial Electronics. In press. |

[14] | Y. Zhao and C. C. Cheah, “Hybrid vision-force control for robot with uncertainties,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 261-266, May 2004. |

[15] | S. Chiaverini and L. Sciavicco, “Force/position regulation of compliant robotmanipulators,” IEEE Transactions on Robotics and Automation, vol. 9, no. 4, pp. 361-373, 1993. |

[16] | Z. Doulgeri and S. Arimoto, “A position/force control for a robot finger with soft tip and uncertain kinematics,” Journal of Robotic Systems, vol. 19, no. 3, pp. 115-131, 2002. · Zbl 1072.70504 |

This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. It attempts to reflect the references listed in the original paper as accurately as possible without claiming the completeness or perfect precision of the matching.