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CONTENTS xv

7 Advanced Control Techniques 383
7.1 Introduction 383
7.2 Robot Controllers with Reduced On-Line Computation 384
Desired Compensation Adaptation Law 384
Repetitive Control Law 392
7.3 Adaptive Robust Control 399
7.4 Compensation for Actuator Dynamics 407
Electrical Dynamics 408
Joint Flexibilities 416
7.5 Summary 426
References 427
Problems 429

8 Neural Network Control of Robots 431
8.1 Introduction 431
8.2 Background in Neural Networks 433
Multilayer Neural Networks 433
Linear-in-the-parameter neural nets 437
8.3 Tracking Control Using Static Neural Networks 440
Robot Arm Dynamics and Error System 440
Adaptive Control 442
Neural Net Feedback Tracking Controller 443
8.4 Tuning Algorithms for Linear-in-the-Parameters NN 445
8.5 Tuning Algorithms for Nonlinear-in-the-Parameters NN 449
Passivity Properties of NN Controllers 453
Passivity of the Robot Tracking Error Dynamics 453
Passivity Properties of 2-layer NN Controllers 455
Passivity Properties of 1-Layer NN Controllers 458
8.6 Summary 458
References 459

9 Force Control 463
9.1 Introduction 463
9.2 Stiffness Control 464
Stiffness Control of a Single-Degree-of-Freedom
Manipulator 464
The Jacobian Matrix and Environmental Forces 467
Stiffness Control of an N-Link Manipulator 474
9.3 Hybrid Position/Force Control 478
Hybrid Position/Force Control of a Cartesian
Two-Link Arm 479

Copyright © 2004 by Marcel Dekker, Inc.