Application of Neural Network-Based Servo Controller to Position, Force and Stabbing Control by Robotic Manipulator
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概要
- 論文の詳細を見る
In this paper, a new concept of a "Neural Servo Controller" is presented to show the applicability of the neural network to position and force, control of robotic manipulators. The proposed Neural Servo Controller is based on the self-organization capability of the neural network, which here consisfs of two hidden layers, and input/output layers. The controller can adjust the neural network output to the robot in the forward manner to cooperate with the feedback loop, depending on different characteristics of handling objects. In particular, the neural network can recognize the force-control modes. The proposed method can adapt the network of stabbing control to one with applications of position and force control. Simulations and experiments are carried out in the case of one-dimensional robotic manipulators. The results show the applicability and the adaptability of the proposed Neural Servo Controller to position/force control of manipulators.
- 一般社団法人日本機械学会の論文
- 1991-06-15
著者
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戸木田 雅利
東京工業大学大学院
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FUKUDA Toshio
Department of Internal Medicine, Shioya General Hospital
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TOKITA Masatoshi
Department of Polymer Chemistry, Tokyo Institute of Technology, Ookayama
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戸木田 雅利
東京工業大学大学院理工学研究科
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SHIBATA Takanori
Department of Nephrology, Showa University School of Medicine
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Fukuda T
Department Of Mechanical Engineering The Science University Of Tokyo
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KURIHARA Takashi
Kyushu University
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KURIHARA Takashi
IBM Japan, Ltd.
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MITSUOKA Toyokazu
Department of Electro-Machinery, National Kisarazu Technical College
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Shibata Takanori
Department Of Nephrology Showa University School Of Medicine
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Tokita Masatoshi
Department Of Organic And Polymer Materials Chemistry Tokyo Institute Of Technology
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Kurihara Takashi
Ibm Japan Ltd.
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Fukuda Toshio
Department Of Cytopathology Graduate School Of Health Sciences Gunma University
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Shibata Takanori
Dept. Of Mechanical Engineering Nagoya University
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Shibata Takanori
Department Of Chemistry Faculty Of Science Okayama University
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Shibata Takanori
Department Of Chemistry And Biochemistry School Of Advanced Science And Engineering Waseda University
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