On the characteristics of the robot manipulator controller using neural networks

Abstract

Several robot controller schemes using neural networks are proposed. To extract advantages from the neural network controller, it is necessary to clarify the capabilities of the neural networks to express a nonlinear function as well as the robustness of the controller. For this purpose, an inverse kinematics problem and a force control problem are presented. The characteristics of the neural network are compared to adaptive control for the robot controller using the force control problem as an example. >