Force Control of Robot Manipulator by Neural Network Model – Experiment and Evaluation of One-Degree-of-Freedom Manipulator –
Masatoshi Tokita*, Toyokazu Mitsuoka*, Toshio Fukuda** and Takashi Kurihara***
*Kisarazu National College of Technology, 2-11-1, Kiyomidaihigashi Kisarazu-shi, Chiba 292 Japan
**School of Engineering, Nagoya University, 1, Furo-cho Chikusa-ku Nagoya 464-01, Japan
***IBM Japan, Ltd., 19-21, Nihonbashi hakozaki-cho, Chuo-ku 103, Japan
In this paper, a force control of a robotic manipulator based on a neural network model is proposed with consideration of the dynamics of both the force sensor and objects. This proposed system consists of the standard PID controller, the gains of which are augmented and adjusted depending on objects through a process of learning. The authors proposed a similar method previously for the force control of the robotic manipulator with consideration of dynamics of objects, but without consideration of dynamics of the force sensor, showing only simulation results. This paper shows the similar structure of the controller via the neural network model applicable to the cases with consideration of both effects and demonstrates that the proposed method shows the better performance than the conventional PID type of controller, yielding to the wider range of applications, consequently. Therefore, this method can be applied to the force/compliance control problems. The effects of the number of neurons and hidden layers of the neural network model are also discussed through the simulation and experimental results as well as the stability of the control system.
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