Neuro-adaptive motion control with velocity observer in operational space formulation

Abstract

In this paper, a neuro-adaptive motion control with velocity observer is developed and validated in real-time experiment using a 6 DOF PUMA 560 robot. The controller is constructed for the operational space formulation, such that dynamic terms and the generalized force descriptions in this algorithm are expressed in the task space. The proposed strategy assumes no prior knowledge of the robot dynamics, and is formulated without assuming the availability of joint velocity feedback. As such, the controller takes only position feedback. This is an important feature as industrial robots are often fitted only with joint displacement sensors, not joint rate sensors. Stability analysis of the algor..