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Impedance control of robot manipulator using artificial intelligence

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4 Author(s)
Han Me Kim ; Environ. & Energy Syst. Res. Div., KIMM, Daejeon, South Korea ; Chang Don Lee ; Doo Hyeong Kim ; Kyoung Taik Park

This paper deals with a sliding mode impedance control (SMIC) of end-effector of robot manipulator using a tracking control scheme and a real-time artificial intelligence algorithm based on a radial basis function neural networks(RBFNNs). To real-time estimate the design parameters of desired impedance model such as desired inertia, damping, and stiffness desired impedance, SMIC(sliding mode impedance control) with RBFNNs algorithm is proposed.

Published in:

Control Automation and Systems (ICCAS), 2010 International Conference on

Date of Conference:

27-30 Oct. 2010