摘要
A hybrid position/force controller is designed for the joint 2 and the joint 3 of thePUMA 560 robot.The hybrid controller includes a multilayered neural network,which canidentify the dynamics of the contacted environment and can optimize the parameters of PIDcontroller.The experimental results show that after having been trained,the robot has sta-ble response to the training patterns and strong adaptive ability to the situation between thepatterns.
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 PID controller. The experimental results show that after having been trained, the robot has stable response to the training patterns and strong adaptive ability to the situation between the patterns.
基金
Supported by the National Defence Science & Technology Pre-research Fund of China.
