Fuzzy compliance robot control

Author

Kim, Seung-Woo ; Park, Mignon

Author_Institution

Dept. of Electron. Eng., Yonsei Univ., Seoul, South Korea

fYear

1991

fDate

3-5 Nov 1991

Firstpage

1628

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;

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.1991.174749

Filename

174749