A new interpretation of force/servo control of robot arms

摘要

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>