Position/Force Tracking Impedance Control for Robotic Systems with Uncertainties Based on Adaptive Jacobian and Neural Network
In this paper, an adaptive Jacobian and neural network based position/force tracking impedance control scheme is proposed for controlling robotic systems with uncertainties and external disturbances. To achieve precise force control performance indirectly by using the position tracking, the control...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/1406534 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|