A study on deburring task of robot arm using neural network

신경망을 이용한 ROBOT ARM의 디버링(Deburring) 작업에 관한 연구

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.