神経回路モデルによるロボットマニピュレータの位置・力制御の研究 : 第2報, Time Delay形ニューラルネットワークの位置と力のハイブリッド制御への応用

概要

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A new concept of a "neural servo controller" is dealt with in this paper, where the controller is applicable to the position and force control of robotic manipulators. The proposed neural servo controller is based on the neural network which here consists of two hidden layers and input/output layers, so this controller has self-organization characteristics. The controller can adjust the neural network output to the robot to cooperate with the feedback loop, depending on unknown characteristics of handling objects. In particular, the proposed neural network has time delay elements in itself, so that the neural network can learn the dynamics of the robotic manipulators and handling object systems. Simulations are carried out for the case of one- and two-dimensional robotic manipulators. The ability of the proposed neural servo controller is shown by the frequency response, and the robustness against impulsive disturbance is also shown. The results show the applicability and adaptability of the proposed neural servo controller to the position/force control of robotic manipulators.
一般社団法人日本機械学会の論文
1991-03-25