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Force feedback control of an assembly robot by neural networks

  • N. Saadia
  • Y. Amirat
  • J. Pontnau
  • A. Ramdane-Cherif
Part V: Robotics, Adaptive Autonomous Agents, and Control
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1327)

Abstract

This paper presents the control of a non linear dynamic system by a neural network controller. This approach based on a feedforward neural network doesn't need any mathematical model of the system. The architecture and the stability of this controller are first analyzed, then an implementation on a flexible assembly cell including a parallel robot is presented. Experimental results of a peg in a hole insertion task show that the proposed hybrid neural controller exhibits better perfomances than the classical external hybrid force position controller.

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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • N. Saadia
    • 1
  • Y. Amirat
    • 1
  • J. Pontnau
    • 1
  • A. Ramdane-Cherif
    • 1
  1. 1.Creteil Cedex

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