机械臂力/伺服控制的新解释

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI:10.1109/IROS.1991.174748

Han-Gyoo Kim

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引用次数: 5

摘要

本文对复杂的机器人控制系统给出了一种新的易于理解的物理解释。给出了机械臂作为被动动力系统和控制器作为超稳定系统的新的物理解释定理。利用多层前馈网络是任何连续函数的通用逼近器这一事实，这种新观点将其应用范围扩展到神经网络类型的控制器，以及可能的其他基于人工智能的控制器，如模糊逻辑控制器。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A new interpretation of force/servo control of robot arms

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.<>

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

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