吉林大学学报(工学版)

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Force/position control algorithm for manipulator based on wavelet network

Huang Shao-hui,Cao Xiao-tao,Li Yuan-chun   

  1. School of Communication Engineering, Jilin University, Changchun 130022, China
  • Received:2007-01-26 Revised:2007-06-07 Online:2008-01-01 Published:2008-01-01
  • Contact: Li Yuan-chun

Abstract: For rheonomically constrained manipulator systems, a robust position/force control algorithm was designed on the basis of wavelet network for the approximation of nonlinear part and unmodelled dynamics of robotic systems. A compensation term was used to simplify the wavelet network structure, and the control algorithm can guarantee the system robustness and solve force/position control problem. Theoretical analysis and simulation were carried out to demonstrate the effectiveness of the proposed control method.

Key words: automatic control technology, manipulator, position/force control, wavelet network

CLC Number: 

  • TP241
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