Intelligent strategy of force & position parallel control for a robot

被引：0
|
作者：
Yin, YH [1 ]
Zhu, JY [1 ]
Wei, ZX [1 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Inst Engn Mech, Nanjing 210016, Peoples R China
来源：
CIRP ANNALS 1997 MANUFACTURING TECHNOLOGY, VOLUME 46/1/1997: ANNALS OF THE INTERNATIONAL INSTITUTION FOR PRODUCTION ENGINEERING RESEARCH | 1997年 / 46卷
关键词：
robotics; intelligent force control; fuzzy neural network;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the paper, an intelligent strategy of force and position parallel control is firstly and systematically presented based on intelligent theories such as large scale system, fuzzy theory and neural networks. The force control hierarchical system is built. Under the consideration of friction, the dynamic tangent and normal equations are determined. Fuzzy hierarchical coordination and neural parallel control are implemented. Some experimental research has been carried out on an Adept Three robot manipulator. The results prove that the intelligent strategy is effective and feasible.
引用
收藏
页码：279 / 282
页数：4
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