Position and force neuro-adaptive control of a flexible robot arm

被引：0
|
作者：
Kojima, Hiroyuki
Zhang, Min
Matsuura, Tsutomu
Murakami, Iwanori
Ueki, Toshiak
机构：
来源：
Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 1993年 / 59卷 / 562期
关键词：
Adaptive control systems - Force control - Neural networks - Position control;
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学科分类号：
摘要：
This paper describes the position and force neuro-adaptive control of a two-link flexible robot arm. First, the equation of motion of the flexible robot arm consisting of the first rigid link and second flexible link is shown. The end of the second flexible link is constrained by a rigid wall. Second, the position and force neuro-adaptive control system is composed of two-layer neural networks and proportional feedback control loops. Furthermore, from the experimental results and the numerically simulated ones, it is confirmed that the control error of position and force with the neuro-adaptive control is markedly smaller than the control error without the neuro-adaptive control.
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页码：1765 / 1770
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