Title :
Fuzzy compliance robot control
Author :
Kim, Seung-Woo ; Park, Mignon
Author_Institution :
Dept. of Electron. Eng., Yonsei Univ., Seoul, South Korea
Abstract :
Proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, one needs more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adaptive controllers have difficulty in realtime processing. So in order to overcome it, the authors adopt fuzzy adaptive controller and propose fuzzy compliance vector generator for flexible compliant motion. They analyze and confirm the proposed algorithm by surface processing experiment with a control system implemented by VME system
Keywords :
adaptive control; fuzzy logic; robots; VME system; adaptivity; compliance robot control algorithm; external environment; flexible compliant motion; fuzzy adaptive controller; fuzzy compliance vector generator; linear modeling; robot dynamics; surface processing experiment; Adaptive control; Error correction; Force control; Fuzzy control; Fuzzy logic; Fuzzy systems; Niobium; Programmable control; Robot control; Steady-state;
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.1991.174749
