| 力控制反馈信号的神经网络法校正 |
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| 引用本文： | 殷跃红,王东云.力控制反馈信号的神经网络法校正[J].南京航空航天大学学报,1997,29(2):145-150. |
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| 作者姓名： | 殷跃红 王东云 |
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| 作者单位： | 南京航空航天大学机电工程学院 |
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| 摘 要： | 对机器人的力反馈，主动柔顺控制和双向联想记忆的神经网络进行了综合研究，针对机器人腕力传感器输出信号的部分失真，提出了机器人擦洗平面玻璃力反馈信号神经校正的方法，并建立了相应的神经网络结构，在ＡｄｅｐｔＴｈｒｅｅ精密装配机器人上进行了试验验证，取得了满意的效果。
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| 关 键 词： | 机器人 神经网络 主动柔顺控制 力反馈 |
Rectification of Force Feedback on Active Compliance Control by Neural Network |
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| Yin Yuehong,Wang Dongyun,Hu Shenghai,Wei Zhongxin,Zhu Jianying.Rectification of Force Feedback on Active Compliance Control by Neural Network[J].Journal of Nanjing University of Aeronautics & Astronautics,1997,29(2):145-150. |
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| Authors: | Yin Yuehong Wang Dongyun Hu Shenghai Wei Zhongxin Zhu Jianying |
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| Abstract: | The theories of force feedback,active compliance control and bidirection associate memory (BAM) are synthetically studied in detail. To deal with the problem of force feedback on SAFMS, a neural method is developed. By this method, the BAM structure of the AdeptThree manipulator wiping plane glass is built with good results. |
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| Keywords: | robots neural networks active compliance control |
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