Robotic hybrid position/force control using artificial neural network

Yong Zheng; Weidong Chen; Bo You; Hegao Cai

doi:10.1117/12.217558

28 August 1995 Robotic hybrid position/force control using artificial neural network

Yong Zheng, Weidong Chen, Bo You, Hegao Cai

Proceedings Volume 2620, International Conference on Intelligent Manufacturing; (1995) https://doi.org/10.1117/12.217558
Event: International Conference on Intelligent Manufacturing, 1995, Wuhan, China

Abstract

A hybrid position/force controller is designed for the joint 2 and the joint 3 of the PUMA 560 robot. The hybrid controller includes a multilayered neural network, which can identify the dynamics of the contacted environment and can optimize the parameters of the PID controller. The experimental results show that after having been trained, the robot has both stable response to the training patterns and strong adaptive ability to the situation between the patterns.

Citation Download Citation

Yong Zheng, Weidong Chen, Bo You, and Hegao Cai "Robotic hybrid position/force control using artificial neural network", Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); https://doi.org/10.1117/12.217558

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