Neural Network Techniques for Robust Force Control of Robot Manipulators

Abstract

In this paper a neural network force/position control scheme is proposed to compensate uncertainties in both robot dynamics and unknown environment. The proposed impedance control allows us to regulate force directly by specifying a desired force. Training signals are proposed for a feed forward neural network controller. The robustness analysis of the… (More)

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@inproceedings{Jung2007NeuralNT, title={Neural Network Techniques for Robust Force Control of Robot Manipulators}, author={Seul Jung}, year={2007} }