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Hybrid Position/Force Control of the SCORBOT-ER 4pc Manipulator with Neural Compensation of Nonlinearities

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Book cover Artificial Intelligence and Soft Computing (ICAISC 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7268))

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Abstract

The problem of the manipulator hybrid position/force control is not trivial because the manipulator is a nonlinear object, whose parameters may be unknown, variable and the working conditions are changeable. The neural control system enables the manipulator to behave correctly, even if the mathematical model of the control object is unknown. In this paper, the hybrid position/force controller with a neural compensation of nonlinearities for the SCORBOT-ER 4pc robotic manipulator is presented. The presented control law and adaptive law guarantee practical stability of the closed-loop system in the sense of Lyapunov. The results of a numerical simulation are presented.

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Author information

Authors and Affiliations

  1. Department of Applied Mechanics and Robotics, Rzeszow University of Technology, 8 Powstańców Warszawy St., 35-959, Rzeszów, Poland

    Piotr Gierlak

Authors
  1. Piotr Gierlak
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Editor information

Editors and Affiliations

  1. Częstochowa University of Technology, Armii Krajowej 36, 42-200, Częstochowa, Poland

    Leszek Rutkowski , Marcin Korytkowski  & Rafał Scherer ,  & 

  2. AGH University of Science and Technology, Mickiewicza 30, 30-059, Kraków, Poland

    Ryszard Tadeusiewicz

  3. Department of Electrical Engineering and Computer Sciences, Computer Science Division, University of California Berkeley, 94720-1776, Berkeley, CA, USA

    Lotfi A. Zadeh

  4. Computational Intelligence Laboratory, Electrical and Computer Engineering, University of Louisville, 405 Lutz Hall, 40292, Louisville, KY, USA

    Jacek M. Zurada

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© 2012 Springer-Verlag Berlin Heidelberg

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Gierlak, P. (2012). Hybrid Position/Force Control of the SCORBOT-ER 4pc Manipulator with Neural Compensation of Nonlinearities. In: Rutkowski, L., Korytkowski, M., Scherer, R., Tadeusiewicz, R., Zadeh, L.A., Zurada, J.M. (eds) Artificial Intelligence and Soft Computing. ICAISC 2012. Lecture Notes in Computer Science(), vol 7268. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-29350-4_52

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  • DOI: https://doi.org/10.1007/978-3-642-29350-4_52

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-29349-8

  • Online ISBN: 978-3-642-29350-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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