Neural network and fuzzy control techniques for robotic systems

In this chapter, advanced neural network and fuzzy control techniques for robotic systems such as robot manipulators are introduced. Position/force control is one of the most important and fundamental operations of robot manipulators to perform sophisticated tasks. It is known that neural network and fuzzy control techniques are very effective for position/force control, especially in an unknown/uncertain environment. By applying these soft computing techniques, undesired overshooting and oscillation caused by the unknown/uncertain dynamics of a robot manipulator and an object/environment can be decreased efficiently and precise position/force control can be realized.