Intelligent Strategy of Force & Position Parallel Control for a Robot

Abstract In the paper, an intelligent strategy of force and position parallel control is firstly and systematically presented based on intelligent theories such as large scale system, fuzzy theory and neural networks. The force control hierarchical system is built. Under the consideration of friction, the dynamic tangent and normal equations are determined. Fuzzy hierarchical coordination and neural parallel control are implemented. Some experimental research has been carried out on an Adept Three robot manipulator. The results prove that the intelligent strategy is effective and feasible.