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Online Learning of Virtual Impedance Parameters in Non-Contact Impedance Control Using Neural Networks.
- Source :
-
IEEE Transactions on Systems, Man & Cybernetics: Part B . Oct2004, Vol. 34 Issue 5, p2112-2118. 7p. - Publication Year :
- 2004
-
Abstract
- Impedance control is one of the most effective methods for controlling the interaction between a manipulator and a task environment. In conventional impedance control methods, however, the manipulator cannot be controlled until the end-effector contacts task environments. A noncontact impedance control method has been proposed to resolve such a problem. This method on only can regulate the end-point Impedance, but also the virtual impedance that works between the manipulator and the environment by using visual Information. This paper proposes a learning method using neural networks to regulate the virtual impedance parameters according to a given task. The validity of the proposed method was verified through computer simulations and experiments with a multi joint robotic manipulator. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 10834419
- Volume :
- 34
- Issue :
- 5
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Systems, Man & Cybernetics: Part B
- Publication Type :
- Academic Journal
- Accession number :
- 14636006
- Full Text :
- https://doi.org/10.1109/TSMCB.2004.829133