제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
- /
- Pages.24-29
- /
- 1990
신경 회로망을 이용한 로보트 매니퓰레이터의 Hybrid 위치/힘 제어기의 설계
Hybrid position/force controller design of the robot manipulator using neural network
초록
In this paper ,ie propose a hybrid position/force controller of a robot manipulator using double-layer neural network. Each layer is constructed from inverse dynamics and Jacobian transpose matrix, respectively. The weighting value of each neuron is trained by using a feedback force as an error signal. If the neural networks are sufficiently trained it does not require the feedback-loop with error signals. The effectiveness of the proposed hybrid position/force controller is demonstrated by computer simulation using a PUMA 560 manipulator.
키워드