An approximate internal model-based neural control for serial robots with multiple clearance joints
A dynamic model of serial robots with multiple clearance joints is developed. The contact phenomenon in the clearance joint is modeled by a continuous dissipative Hertz contact theory, and the friction force is calculated based on the modified Coulomb’s friction law. A neural network method is emplo...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-12-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814018812320 |
| Summary: | A dynamic model of serial robots with multiple clearance joints is developed. The contact phenomenon in the clearance joint is modeled by a continuous dissipative Hertz contact theory, and the friction force is calculated based on the modified Coulomb’s friction law. A neural network method is employed to predict the dynamic response, which avoids the problem in solving the differential algebraic equations. An approximate internal model-based neural control method is proposed to control the undesired effects arising from the joint clearances. The validity of the proposed method is verified by simulation results. |
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| ISSN: | 1687-8140 |