Neural-Learning-Based Telerobot Control With Guaranteed Performance
Yang, Chenguang1; Wang, Xinyu2,3; Cheng, Long4; Ma, Hongbin2,3
2017-10-01
发表期刊IEEE TRANSACTIONS ON CYBERNETICS
卷号47期号:10页码:3148-3159
文章类型Article
摘要In this paper, a neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot. Guaranteed performance of the telerobot control system is achieved at both kinematic and dynamic levels. At kinematic level, automatic collision avoidance is achieved by the control design at the kinematic level exploiting the joint space redundancy, thus the human operator would be able to only concentrate on motion of robot's end-effector without concern on possible collision. A posture restoration scheme is also integrated based on a simulated parallel system to enable the manipulator restore back to the natural posture in the absence of obstacles. At dynamic level, adaptive control using radial basis function NNs is developed to compensate for the effect caused by the internal and external uncertainties, e.g., unknown payload. Both the steady state and the transient performance are guaranteed to satisfy a prescribed performance requirement. Comparative experiments have been performed to test the effectiveness and to demonstrate the guaranteed performance of the proposed methods.
关键词Collision Avoidance Guaranteed Performance Neural Networks (Nns) Telerobot Control
WOS标题词Science & Technology ; Technology
DOI10.1109/TCYB.2016.2573837
关键词[WOS]MOBILE ROBOTS ; MANIPULATORS ; SYSTEMS
收录类别SCI
语种英语
项目资助者Engineering and Physical Sciences Research Council(EP/L026856/2 ; National Natural Science Foundation of China(61422310 ; Beijing Natural Science Foundation(4162066) ; EP/J004561/1) ; 61473038)
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号WOS:000409311800016
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20004
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Wang, Xinyu
作者单位1.Swansea Univ, Zienkiewicz Ctr Computat Engn, Swansea SA1 8EN, W Glam, Wales
2.Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
3.Beijing Inst Technol, State Key Lab Intelligent Control & Decis Complex, Beijing 100081, Peoples R China
4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Yang, Chenguang,Wang, Xinyu,Cheng, Long,et al. Neural-Learning-Based Telerobot Control With Guaranteed Performance[J]. IEEE TRANSACTIONS ON CYBERNETICS,2017,47(10):3148-3159.
APA Yang, Chenguang,Wang, Xinyu,Cheng, Long,&Ma, Hongbin.(2017).Neural-Learning-Based Telerobot Control With Guaranteed Performance.IEEE TRANSACTIONS ON CYBERNETICS,47(10),3148-3159.
MLA Yang, Chenguang,et al."Neural-Learning-Based Telerobot Control With Guaranteed Performance".IEEE TRANSACTIONS ON CYBERNETICS 47.10(2017):3148-3159.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Neural-Learning-Base(3035KB)期刊论文作者接受稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Yang, Chenguang]的文章
[Wang, Xinyu]的文章
[Cheng, Long]的文章
百度学术
百度学术中相似的文章
[Yang, Chenguang]的文章
[Wang, Xinyu]的文章
[Cheng, Long]的文章
必应学术
必应学术中相似的文章
[Yang, Chenguang]的文章
[Wang, Xinyu]的文章
[Cheng, Long]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Neural-Learning-Based Telerobot Control With Guaranteed Performance.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。