Force control of the direct-drive robot using learning controller

학습제어기를 이용한 직접구동형 로봇의 힘제어

  • Hwang, Yeong-Yeun (Dept.of Control Instrumentation Engineering, Pukyong National University)
  • 황용연 (부경대학교 제어계측공학과)
  • Published : 1997.11.01


Direct-drive robots are suitable to the position and force control with high accuracy, but it is difficult to design a controller because of the system's nonlinearity and link-interactions. This paper is concerned with the study of the force control of direct-drive robots. The proposed algorithm consists of feedback controllers and a neural network. After the completion of learning, the output of feedback controller is nearly equal to zero, and the neural network controller plays an important role in the control system. Therefore, the optimum retuning of parameters of feedback controllers is unnecessary. In other words, the proposed algorithm does not require any knowledge of the controlled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the force control of the parallelogram link-type direct-drive robot.