전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제28B권11호
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- Pages.897-903
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- 1991
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- 1016-135X(pISSN)
신경회로망을 이용한 로보트 매니률레이터의 하이브리드 위치/힘 제어기 설계
Hybrid Position/Force Controller Design of the Robot Manipulator Using Neural Networks
초록
In this paper we propose a hybrid position/force controller of a robot manipulator using feedback error learning rule and neural networks. The neural network is constructed from inverse dynamics. The weighting value of each neuron is trained by using a feedback force as an error signal. If the neural networks are sufficiently trained well, 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 PUMA 560 manipulator.
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