摘要
本文考虑到机器人与环境接触操作中接触刚度的不确定性,在力控制中引入神经网络自适应PID控制算法。仿真实验表明,该方法较常规方法具有更强的鲁棒性和适应性。
A force control method for robot which utilizes a neural network adaptive PID algorithm is proposed with consideration of the uncertainty of the object stiffness in interaction, with the environment. The simulation results show that the proposed method gives more significant robustness and adaptability than coventional control method (e.g.PID) control).
出处
《模式识别与人工智能》
EI
CSCD
北大核心
1995年第3期243-247,共5页
Pattern Recognition and Artificial Intelligence
关键词
机器人
混合控制系统
神经网络
自适应控制
Artificial Neural Network (ANN), Hybrid Position/Force Control of Robot, Backpropaga-tion Algorithm, Adaptive Control.
