<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot’s dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.</p>
</abstract>

This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot’s dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.

Neural Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the...

Neural Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Data publikacji: 15 lip 2023

Zakres stron: 435 - 444

Otrzymano: 13 gru 2022

Przyjęty: 27 mar 2023

DOI: https://doi.org/10.2478/ama-2023-0050

Słowa kluczowe
robotics, robot control, nonlinear control systems

© 2023 Piotr Gierlak, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Neural Control of a Robotic Manipulator in Contact with a Flexible and Uncertain Environment

Data publikacji: 15 lip 2023

Zakres stron: 435 - 444

Otrzymano: 13 gru 2022

Przyjęty: 27 mar 2023

DOI: https://doi.org/10.2478/ama-2023-0050

Słowa kluczowerobotics, robot control, nonlinear control systems

© 2023 Piotr Gierlak, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Słowa kluczowe
robotics, robot control, nonlinear control systems