Hybrid Position/Force Control in Robotised Machining

Abstract

The article presents an application of the neural hybrid position/force control of the robotic manipulator. Realisation of many machining processes requires an application of the hybrid position/force control in order to perform the desired robot trajectory, which results from the machined surface geometry, and the desired tool downforce. The application of the robotic manipulator for realisation of the machining process enables to elimination of human handwork and ensures greater accuracy and repeatability of products. In the article is presented mainly the application of the hybrid position/force control system, in which a multilayer neural network is applied in order to manipulator nonlinearities compensation.