Title :
Application study of robotic control system based on force information
Author :
Wang, Xiujun ; Ge, Yunjian ; Xiao, Bo ; Yu, Yong
Author_Institution :
Inst. of Intelligent Machines, Chinese Acad. of Sci., Beijing, China
Abstract :
Considering the deficiency of present robotic force control algorithm, we introduce artificial intelligent method in this paper. We attempt to combine fuzzy control theory with impedance control strategy, and attempt to control the external force on the robotic end-effector by this quomodo. The structure of the system is presented and the force controller is designed. Finally we show the results based on the practical experiments. It is a more effective strategy to solve the robotic force control problem.
Keywords :
end effectors; force control; fuzzy control; sensors; Puma robot; artificial intelligent method; force controller; force information; fuzzy control theory; impedance control strategy; robotic control system; robotic end-effector; Control systems; Force control; Force feedback; Force sensors; Fuzzy control; Impedance; Intelligent control; Intelligent robots; Robot control; Robot sensing systems;
Conference_Titel :
Information Acquisition, 2004. Proceedings. International Conference on
Print_ISBN :
0-7803-8629-9
DOI :
10.1109/ICIA.2004.1373419
