Force control of a robotic manipulator by application of a neural network

摘要

Abstract In this paper, a force control method for robotic manipulators which utilize a neural network model is proposed with consideration of the dynamics of objects. The proposed system consists of a standard PID controller and a multilayered neural network model, which optimizes a set of controller's parameters via a process of learning. The neural network model has not yet been applied to force control problems, but the proposed method is shown to be applicable to force/compliance control problems. The stability of this system and a wider applicability are verified by simulation studies.