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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© 1997 Springer-Verlag Berlin Heidelberg
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Saadia, N., Amirat, Y., Pontnau, J., Ramdane-Cherif, A. (1997). Force feedback control of an assembly robot by neural networks. In: Gerstner, W., Germond, A., Hasler, M., Nicoud, JD. (eds) Artificial Neural Networks — ICANN'97. ICANN 1997. Lecture Notes in Computer Science, vol 1327. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0020249
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DOI: https://doi.org/10.1007/BFb0020249
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