Experimental Studies of Neural network Impedance Force Control for Robot Manipulators
نویسندگان
چکیده
In this paper, neural network force control is presented. Under the framework of impedance control, neural network is used to compensate for all the uncertainties from robot dynamics and unknown environment. Modi ed simple impedance function is realized after the convergence of neural network. Learning algorithms for neural network to minimize force error directly are designed. As a test-bed, the large x-y table robot is implemented. Experimental results have shown better force tracking when neural network is used.
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