| 203B5 |
|---|
| Artificial Neural Network Controller for Accurate and Reliable Force Control of Human Assistance Robot |
| AUTHORS |
| T. Zhang, M. Nakamura (Saga University) |
| ABSTRACT |
| In this paper, a scheme for realizing accurate and reliable force control by artificial neural network for human assistance robot was presented. For accurate force control, artificial neural network controller constructed based on Euler-Lagrange equation for implementing inverse dynamics of human assistance robot with many unknown factors was adopted. For safety of force control on human assistance robot, forcefree control with ability of learning on unknown factors compensation was installed in the human assistance robot system. With detail explanation in this paper, the procedure of this scheme can be understood. By the application of this method for meal assistance robot, the effectiveness of the proposed method and its merits were verified clearly. |
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Annual Conference 2002