|
Depot Institutionnel de l'UMBB >
Mémoires de Master 2 >
Institut de Génie Electrique et d'Electronique >
Contrôle >
Veuillez utiliser cette adresse pour citer ce document :
http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/12187
|
| Titre: | Adaptive impedance control for unknown environment |
| Auteur(s): | Benbouali, Mohamed Amine
Derragui, N.(supervisor) |
| Mots-clés: | Design build : Dynamic Model
Impedance Control : Disadvantages |
| Date de publication: | 2022 |
| Résumé: | This report presents a simulation, design, build and evaluation of a 2 degree of freedom
robotic arm guided by an adaptive impedance control algorithm governed by a neural network.
This neural network is trained and evaluated by an adaptive genetic algorithm, the
implementation of the robot arm consists of a 3D printed interconnected body controlled by
Python and Arduino equipped with high torque servo motors. Interaction force sensors are
installed around the end effector of the robotic arm as feedback to the neural network to exert manipulative decisions. |
| Description: | 47 p. |
| URI/URL: | http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/12187 |
| Collection(s) : | Contrôle
|
Fichier(s) constituant ce document :
|
Tous les documents dans DSpace sont protégés par copyright, avec tous droits réservés.
|
