摘要
对机器人的力反馈、主动柔顺控制和模糊神经网络进行了综合研究，提出了力／位并环控制策略，建立了相应的模糊神经网络结构，实施了力／位并环控制算法，在ＡｄｅｐｔＴｈｒｅｅ精密装配机器人进行了试验，取得了满意的效果。
The theories of force feedback, active compliance control and fuzzy neural network are dealt with in detail.Firstly the strategy of force & position parallel loop control is presented systematically. By means of it, a related structure of fuzzy neural network is built, and an algorithm is designed. At last, the experimental researches about wiping a plain glass are implemented in an AdeptThree robot manipulator. Good results are obtained.
出处
《航空学报》
EI
CAS
CSCD
北大核心
1997年第4期501-504,共4页
Acta Aeronautica et Astronautica Sinica
关键词
机器人
力控制
模糊神经网络
主动柔顺控制
robotics, force control, fuzzy neural network,active compliance control
