Neural-fuzzy force control using a TAI-lorable parallel computer concept

In this paper a new control system for the intelligent force control of multifingered robot grips is presented. The multi-level system architecture combines both fuzzy-based and a neural-based control algorithms. After defining the fine manipulation problem fuzzy and neural controller are developed. The demands of flexibility and real-time control of the implementation of the control system are suited by a tailorable parallel computer concept. The basic ideas of the concept are to set up each processing element and the communication individually for its application