Title :
High precision fuzzy impedance control of free-form surfaces polishing robotic arm based on position control
Author :
Yueyan, Chen ; Ji, Zhao ; Bidou, Wang ; Shuang, Han
Author_Institution :
Inst. of Mech. Sci. & Eng., Jilin Univ., Changchun
Abstract :
In this paper, a novel impedance control method for high precision fuzzy controller with self adjustment quantitative factor is presented. This method can not only realize the real-time control by adjusting impedance parameters, but also enhance the stability and dynamic characteristics of the system. We have demonstrated this strategy is feasible and effective based on the simulation researches of free-form surfaces polishing robotic arm
Keywords :
fuzzy control; industrial manipulators; mechanical variables control; polishing; polishing machines; position control; stability; free-form surfaces polishing robotic arm; high precision fuzzy impedance control; position control; real-time control; self adjustment quantitative factor; stability; Armature; Control systems; Force control; Fuzzy control; Intelligent robots; Position control; Pulse width modulation; Robot sensing systems; Stability; Surface impedance;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511084
