A new interpretation of force/servo control of robot arms

Author

Kim, Han-Gyoo

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

fYear

1991

fDate

3-5 Nov 1991

Firstpage

1623

Abstract

A new easy-to-understand physical interpretation of complicated robot control system is given in this paper. Theorems are provided to derive the new physical interpretation of the robot arms as passive dynamical system and the controller as hyperstable system. Utilizing the fact that the multilayer feedforward networks are universal approximators to any continuous function, this new view expands its range of application to neural net type controller and possibly, other AI based controller like fuzzy logic controller

Keywords

adaptive control; force control; neural nets; robots; servomechanisms; AI based controller; force control; fuzzy logic controller; hyperstable system; multilayer feedforward networks; neural net type controller; passive dynamical system; physical interpretation; robot arms; robot control system; servocontrol; Artificial intelligence; Control systems; Feedforward neural networks; Force control; Fuzzy logic; Manipulators; Multi-layer neural network; Neural networks; Robot control; Servosystems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174748

Filename

174748