Neural Force Position Control in Cartesian Space for a DOF Industrial Robot Concept and First Results
نویسندگان
چکیده
A novel concept of neural force position control in cartesian space NFC was developed and applied The NFC concept for a DOF industrial robot with DOF sensor forces torques is based on a cycle time of only msec NFC features include Sensor and trajectory data processing in cartesian space Learned mapping operations for force kinematics and dynamics with neural networks Singularity robust ness in the entire workspace Automatic adjustment of desired trajectories to kinematic and dynamic con straints NFC allows the control of DOF robots in de ned contact with moving sti objects and surfaces This requires the dynamic handling of coupled force and position vectors Results from simulations and real time experiments with a joint manipulator Siemens manutec r will be discussed
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Neural Force Control (NFC) Applied to Industrial Manipulators in Interaction with Moving Rigid Objects
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