Neural Adaptive Impedance Control for Force Tracking in Uncertain Environment

Round 1

Reviewer 1 Report

Comments for author File: Comments.pdf

Author Response

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Author Response File: Author Response.pdf

Reviewer 2 Report

This paper has been improved to be resubmitted again.

The authors need to clarify more the difference with other works like: 

https://www.sciencedirect.com/science/article/pii/S0921889017307480?casa_token=LhaF7M3scl8AAAAA:Zh9uOZiyvbCzWhqBZE-KvQP2P0Azn6ZrY2Y8B035UTOzMDrMG6NnJ48FN5w7bvpzSz2GOfzMvg

https://www.sciencedirect.com/science/article/pii/S073658452100171X?casa_token=le9JsQGG0hkAAAAA:_8KMYc-hv-mtukadTq3Z7wblOIwnIma8XIFktWHzlkpW-xVKAKLrfz5InrqjEO_OX5v_Gkwl5g

The novelty of the work is not clear. 

The authors need to improve the state of the art and the difference from other authors.

There are many works in the literature related to this topic. So, they need to improve the novelty. 

 

 

Author Response

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Author Response File: Author Response.pdf

Reviewer 3 Report

The article deals with robot control systems, which are required mainly in collaborative applications during human-robot interaction. Trends show a growing number of requests for human-robot cooperation. From the point of view of human safety in these applications, this issue is very important. In case of contact between a robot and a person, it is important that the robot reacts adequately.
In this study, a neural adaptive impedance control (NAIC) scheme with directly online optimized parameters is proposed. Simulation studies and real-world experiments with a six-link rotary robotic manipulator demonstrate the superior performance of NAIC.

  In the introduction, the authors justify the need to solve this work and other relevant studies with relevant references to the work of other authors are presented.
The dynamic model of six degrees of freedom robot is described in the next part of the article.
The proposed control algorithm is tested by simulating the tracking performance with 6 degrees of freedom collaborative robot manipulator JK5. The simulation environment is based on open source physics engine MuJoCo. Collaborative robot JK5 with six rotational joints was used for experimental studies.
Joint friction compensation was solved in the next part of the work.
The article uses the correct methodology and the presentation of the results is understandable, but there are many formal errors in the article that need to be corrected. Also, the conclusion of the article is very brief and lacks a deeper discussion.

Comments:
There should be a space between the text and the references (for example, "robotics[1]" should be "robotics [1]". It is also in the rest of the article. The whole article should be checked.
There should be spaces between the values of the quantities and the units (line 160, 164, 168, 169, 177, 186, 192, 193, 217, 219, 220, 231, 232 caption fig. 2, 3, 4, 5, 8
There are no units in Table 1. Surely all quantities are dimensionless?
There are no units for time in the captions of pictures 8a, b, c, d.
In such articles, there should be a more extensive discussion at the end of the article.
The conclusion is also very brief. It also lacks a critical view of the results achieved. The shortcomings and limitations of the proposed solution are not mentioned (or are there none?). I assume that this issue can be further developed, but the author did not mention plans for future research and development of this issue.

Author Response

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Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

All questions are well answered.