Intelligent position/force controller for industrial robot manipulators - Application of fuzzy neural networks

被引：55
作者：
Kiguchi, K [1 ]
Fukuda, T [1 ]
机构：
[1] NAGOYA UNIV,DEPT MICRO SYST ENGN,NAGOYA,AICHI 46401,JAPAN
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1997年 / 44卷 / 06期
关键词：
fuzzy neural networks; intelligent robots; manipulators; manufacturing;
D O I：
10.1109/41.649935
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator, The proposed controller deals with the human expert knowledge and skills for planning and control, In this paper, it is applied to the task of deburring with an unknown object, The effectiveness of the proposed controller is evaluated by computer simulations.
引用
收藏
页码：753 / 761
页数：9
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