Abstract:

The theories of force feedback, active compliance control and fuzzy neural network are dealt with in detail.Firstly the strategy of force & position parallel loop control is presented systematically. By means of it, a related structure of fuzzy neural network is built, and an algorithm is designed. At last, the experimental researches about wiping a plain glass are implemented in an AdeptThree robot manipulator. Good results are obtained.

Key words: robotics, force control, fuzzy neural network, active compliance control