Robust force/motion control of constrained robots using neural network

A robust neural network (NN) controller is proposed for the simultaneous fo rce/motion control of constrained rigid robots. The NN weights here are tun ed on-line, with no off-line learning phase required. Most importantly, we can guarantee the boundedness of constraint force errors, joint position tr acking errors, and NN weights. When compared with adaptive controllers, we do not require linearity in the unknown parameters, and the tedious computa tion of the regression matrix. Novel passivity properties of the NN control ler are stated and proven. (C) 1999 John Wiley & Sons, Inc.