关键词: 大系统, 机器人, 力控制, 模糊神经网络

Abstract: The 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 network. 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 researches are carried out in an Adept- I robot manipulator. The results prove that the intelligent strategy is effective and feasible.

Key words: Force control, Fuzzy neural network, Large scale system, Robotics