DocumentCode
2806909
Title
Fuzzy rule based position/force control of industrial manipulators
Author
Suh, Il Hong ; Hong, John Hyuck ; Oh, Sang-Rok ; Kim, Kwang Bae
Author_Institution
Dept. of Electron. Eng., Hanyang Univ., Seoul, South Korea
fYear
1991
fDate
3-5 Nov 1991
Firstpage
1617
Abstract
A force/position control method is proposed for robot manipulators equipped with a wrist force/torque sensor and position servo drives. Especially, fuzzy PI gain tuning rules are suggested to improve the transient force response. To show the validity of the proposed method, a numerical example employing a two-link manipulator is given
Keywords
artificial intelligence; force control; fuzzy logic; industrial robots; position control; servomechanisms; fuzzy PI gain tuning rules; fuzzy control; industrial manipulators; position servo drives; robot manipulators; rule based position/force control; transient force response; two-link manipulator; wrist force/torque sensor; Force control; Force sensors; Fuzzy control; Industrial control; Manipulators; Position control; Robot sensing systems; Service robots; Servomechanisms; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location
Osaka
Print_ISBN
0-7803-0067-X
Type
conf
DOI
10.1109/IROS.1991.174747
Filename
174747
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