Fuzzy learning grasping force controller for manipulator hand

Author

Dote, Yasuhiko ; Suyitno, Amin ; Strefezza, Miguel

Author_Institution

Dept. of Electron. Eng., Muroran Inst of Technol., Japan

fYear

1990

fDate

5-7 Dec 1990

Firstpage

2646

Abstract

A fuzzy set adaptive and learning control algorithm is developed. it is applied to grasping force control for a manipulator hand powered by a transistor PWM converter-fed servomotor. This robust manipulator hand can grip every object stably despite differences in compliance. This controller is applicable to systems whose dynamics changes time-variantly. The learning algorithm implemented `off-line´ is derived on the basis of sliding mode control. It gives strong error convergence properties proved by using the Lyapunov stability theorem, since it does not contain integrators as conventional adaptive mechanisms do

Keywords

adaptive control; force control; fuzzy logic; learning systems; pulse width modulation; robots; servomotors; time-varying systems; Lyapunov stability; fuzzy learning control; fuzzy set adaptive control; grasping force controller; manipulator hand; sliding mode control; strong error convergence properties; time-variant dynamics; transistor PWM converter-fed servomotor; Adaptive control; Force control; Fuzzy control; Fuzzy sets; Grasping; Manipulator dynamics; Programmable control; Pulse width modulation; Pulse width modulation converters; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1990., Proceedings of the 29th IEEE Conference on

Conference_Location

Honolulu, HI

Type

conf

DOI

10.1109/CDC.1990.203458

Filename

203458