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
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;
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
DOI :
10.1109/IROS.1991.174747
