Title :
Robust force control system based on fuzzy acceleration control algorithm
Author :
Ohishi, Kiyoshi ; Tsuchikawa, Hiroshi ; Matsuda, Satoshi
Author_Institution :
Osaka Inst. of Technol., Japan
Abstract :
A robust force and compliance control based on a novel acceleration control system is proposed. This acceleration control system is based on a fuzzy algorithm. Using the proposed acceleration controller, the servomotor can be driven by a specified acceleration control command. The structure of this controller is simple and effective for robust force and compliance control. The proposed acceleration control system is realized by a digital signal processor software algorithm, and it regulates the force and compliance to the target environment well
Keywords :
acceleration control; computerised control; force control; fuzzy logic; servomechanisms; compliance control; digital signal processor software algorithm; force control; fuzzy acceleration control algorithm; servomotor; target environment; Acceleration; Control systems; Digital signal processors; Force control; Fuzzy control; Fuzzy systems; Robust control; Servomotors; Signal processing algorithms; Software algorithms;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149225
