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对机器人的力反馈、主动柔顺控制和双向联想记忆的神经网络进行了综合研究，针对机器人腕力传感器输出信号的部分失真，提出了机器人擦洗平面玻璃力反馈信号神经校正的方法，并建立了相应的神经网络结构，在ＡｄｅｐｔＴｈｒｅｅ精密装配机器人上进行了试验验证，取得了满意的效果。
A comprehensive study on the force feedback of the robot, the active compliance control and the bidirectional associative memory neural network is carried out. According to the partial distortion of the robot wrist force sensor output signal, a method of robot scrubbing planar glass force feedback signal neural correction is proposed and a corresponding The neural network structure is verified by AdeptThree precision robot assembly and satisfactory results are achieved.