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本文考虑到机器人与环境接触操作中接触刚度的不确定性,在力控制中引入神经网络自适应PID控制算法。仿真实验表明,该方法较常规方法具有更强的鲁棒性和适应性。
In this paper, we consider the uncertainty of the contact stiffness between the robot and the environment and introduce neural network adaptive PID control algorithm into the force control. Simulation results show that this method is more robust and adaptive than the conventional methods.