Volume 21 Issue 3
May  1999
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SUN Lining, XU Wenjun, CAI Hegao. STUDY OF FUZZY CMAC NEURAL NETWORK BASED ADAPTIVE FORCE CONTROL OF-PARALLEL ROBOTS[J]. ROBOT, 1999, 21(3): 198-203.
Citation: SUN Lining, XU Wenjun, CAI Hegao. STUDY OF FUZZY CMAC NEURAL NETWORK BASED ADAPTIVE FORCE CONTROL OF-PARALLEL ROBOTS[J]. ROBOT, 1999, 21(3): 198-203.
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STUDY OF FUZZY CMAC NEURAL NETWORK BASED ADAPTIVE FORCE CONTROL OF-PARALLEL ROBOTS

  • Robot Research Institute, Harbin Institute of Technology, 150001

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  • Received Date: November 30, 1998
  • Published Date: May 14, 1999
    Graphical Abstract
    • Abstract
  • This paper introduces a kind of Takagi type fuzzy reasoning based fuzzy CMAC neural network and analyzes its learning algorithm. We have designed an adaptive force controller for parallel robots based on the neural network mentioned above. Simulation and experiment both prove that the controller we designed is feasible and effective.
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    • References (1)
  • 1 Albus J S. A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC). Trans ASME J Dyn Syst Meas Contr, 1975,97: 220～227
    2 邓志东等.一种模糊CMAC神经网络.自动化学报,1995,21(3): 288～293
    3 John Nelson, L Gordon Kraft. Using CMAC Neural Networks and Optimal Control. Proc IEEE Int Conf Neural Networks, Part 5 (of 6), 1995: 2386～2390
    4 Tomas W. Miller, III. Real-Time Application of Neural Networks for Sensor-Based Control of Robots with Vision. IEEE Transactions on System, Man and Cybernetics, 1989, 19(4): 825～831
    5 王顺晃,舒迪前.智能控制系统及其应用.机械工业出版社,1995
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