Redundant 매니퓰레이터의 force 제어를 위한 신경 회로망 제어기

Force Controller of the Redundant Manipulator using Seural Network

In this paper we propose the force controller using a neural network for a redundant manipulator. Jacobian transpose matrix of a redundant manipulator constructed by a neural network is trained by using a feedback torque as an error signal. If the neural network is sufficiently trained well, the kinematic inaccuracy of a manipulator is automatically compensated. The effectiveness of the proposed controller is demonstrated by computer simulation using a three-link planar robot.