提出了一种新颖的控制方案，即采用神经网络预测控制器来控制机器人的力／位置．这种控

制器能任意逼近机器人这种不确定对象，不用知道系统的精确结构，同时由于预测控制的加入，使系

统在线计算方便，控制质量提高了-A novel control scheme, namely, the use of neural network predictive controller to control the robot s force/position. This control



System of robots capable of approaching any object to such uncertainty, do not know the precise structure of the system, at the same time as a result of the addition of predictive control, so that the Department of



Convenience of online computing integration, improved quality control