DocumentCode
2190920
Title
Two dimensional precise positioning using an impulse force controlled by fuzzy reasoning
Author
Suyama, Hisashi ; Izumi, Teruyuki ; Hitaka, Yoshikazu
Author_Institution
Dept. of Electr. & Electron. Eng., Yamaguchi Univ., Ube, Japan
Volume
1
fYear
1996
fDate
18-21 Mar 1996
Firstpage
53
Abstract
This paper proposes a new positioning method which taps the object by a robot with a flexible link hammer. An impulsive force generated by tapping is effective to actuate the object with very high resolution. The intensity and tapping point of the impulsive force are controlled by fuzzy reasoning. It is seen from experiments that the proposed method can control the position of the object in high accuracy
Keywords
fuzzy control; manipulators; position control; flexible link hammer; fuzzy reasoning; impulse force; impulsive force; robot; two-dimensional precise positioning; Acceleration; Equations; Error correction; Force control; Friction; Fuzzy reasoning; Gravity; Manipulators; Robots; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location
Mie
Print_ISBN
0-7803-3219-9
Type
conf
DOI
10.1109/AMC.1996.509379
Filename
509379
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