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Neural network hybrid position/force control | IEEE Conference Publication | IEEE Xplore

Neural network hybrid position/force control


Abstract:

The authors extend the application of a multilayered feedforward network to the hybrid position/force control problem. Using the measured positions and forces during an a...Show More

Abstract:

The authors extend the application of a multilayered feedforward network to the hybrid position/force control problem. Using the measured positions and forces during an assembly task as inputs to a neural network, the necessary selection matrix and artificial constraints can be computed by the network. The authors use the peg-in-the-hole insertion problem to demonstrate their method. The neural network hybrid position/force controller is shown to correctly switch to the required position and force control modes and to recall the desired positions and forces required for each subcontrol task.
Date of Conference: 26-30 July 1993
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-0823-9
Conference Location: Yokohama, Japan

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