Coordinative motion control for different kind of manipulators using a fuzzy compensator

Author

Izumi, K. ; Watanabe, K. ; Hirao, T.

Author_Institution

Dept. of Mech. Eng., Saga Univ., Japan

Volume

3

fYear

1998

fDate

21-23 Apr 1998

Firstpage

462

Abstract

We describe a coordinative motion control based on the master/slave method for different kinds of manipulators. The master side consists of a pantagraph-type two link manipulator driven by a torque command, whereas the slave side is an industrial manipulator driven by a position command with a force/torque sensor. It is difficult to maintain a desired contact force by only a master/slave method. To maintain a desired contact force, a compensative position command is generated by using fuzzy reasoning with the force sensor information. The effectiveness is verified by experiments

Keywords

compensation; force control; force sensors; fuzzy control; fuzzy logic; fuzzy set theory; industrial manipulators; inference mechanisms; motion control; torque control; coordinative motion control; force/torque sensor; fuzzy compensator; fuzzy reasoning; industrial manipulator; master/slave method; pantagraph-type two link manipulator; position command; torque command; Electrical equipment industry; Force control; Force sensors; Fuzzy control; Fuzzy set theory; Manipulator dynamics; Master-slave; Motion control; Torque; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on

Conference_Location

Adelaide, SA

Print_ISBN

0-7803-4316-6

Type

conf

DOI

10.1109/KES.1998.726009

Filename

726009