Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/70049
標題: Neural network force control for industrial robots
作者: Lin, S.T.
Tzeng, S.J.
關鍵字: neural network control
force control
industrial robots
dual-arm
robots
manipulators
position
uncertainties
compensator
models
期刊/報告no:: Journal of Intelligent & Robotic Systems, Volume 24, Issue 3, Page(s) 253-268.
摘要: In this paper, we present a hierarchical force control framework consisting of a high level control system based on neural network and the existing motion control system of a manipulator in the low level. Inputs of the neural network are the contact force error and estimated stiffness of the contacted environment. The output of the neural network is the position command for the position controller of industrial robots. A MITSUBISHI MELFA RV-MI industrial robot equipped with a BL Force/Torque sensor is utilized for implementing the hierarchical neural network force control system. Successful experiments for various contact motions are carried out. Additionally, the proposed neural network force controller together with the master/slave control method are used in dual-industrial robot systems. Successful experiments an carried out for the dual-robot system handling an object.
URI: http://hdl.handle.net/11455/70049
ISSN: 0921-0296
文章連結: http://dx.doi.org/10.1023/a:1008093719860
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