Title :
Intelligent position/force controller for industrial robot manipulators-application of fuzzy neural networks
Author :
Kiguchi, Kazuo ; Fukuda, Toshio
Author_Institution :
Dept. of Ind. & Syst. Eng., Niigata Coll. of Technol., Japan
fDate :
12/1/1997 12:00:00 AM
Abstract :
An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator. The proposed controller deals with the human expert knowledge and skills for planning and control. In this paper, it is applied to the task of deburring with an unknown object. The effectiveness of the proposed controller is evaluated by computer simulations
Keywords :
adaptive control; control system analysis computing; control system synthesis; force control; fuzzy control; fuzzy neural nets; industrial manipulators; intelligent control; machining; neurocontrollers; position control; adaptive fuzzy neural force control; adaptive fuzzy neural position control; computer simulation; control design; control simulation; deburring task; human expert knowledge; human skills; industrial robot manipulators; intelligent controller; intelligent planner; Adaptive control; Force control; Fuzzy control; Humans; Industrial control; Intelligent robots; Manipulators; Programmable control; Robot control; Service robots;
Journal_Title :
Industrial Electronics, IEEE Transactions on
