ANN Enhanced Hybrid Force/Position Controller of Robot Manipulators for Fiber Placement

ANN Enhanced Hybrid Force/Position Controller of Robot Manipulators for Fiber Placement

In practice, most industrial robot manipulators use PID (Proportional + Integral + Derivative) controllers, thanks to their simplicity and adequate performance under certain conditions. Normally, this type of controller has a good performance in tasks where the robot moves freely, performing movemen...

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Bibliographic Details
Main Authors: José Francisco Villa-Tiburcio, José Antonio Estrada-Torres, Rodrigo Hernández-Alvarado, Josue Rafael Montes-Martínez, Darío Bringas-Posadas, Edgar Adrián Franco-Urquiza
Format: Article
Language:English
Published: MDPI AG 2024-07-01
Series:Robotics
Subjects:
automated fiber placement
complex surface
neural network
classical control
force/position tracking controller
Lyapunov stability
Online Access:https://www.mdpi.com/2218-6581/13/7/105

Internet

https://www.mdpi.com/2218-6581/13/7/105

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