제어로봇시스템학회:학술대회논문집
- 1990.10a
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- Pages.13-17
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- 1990
Force Controller of the Redundant Manipulator using Seural Network
Redundant 매니퓰레이터의 force 제어를 위한 신경 회로망 제어기
Abstract
In this paper we propose the force controller using a neural network for a redundant manipulator. Jacobian transpose matrix of a redundant manipulator constructed by a neural network is trained by using a feedback torque as an error signal. If the neural network is sufficiently trained well, the kinematic inaccuracy of a manipulator is automatically compensated. The effectiveness of the proposed controller is demonstrated by computer simulation using a three-link planar robot.
Keywords