Application study of robotic control system based on force information

被引：0

作者：

Wang, XJ ^{[1
]}

Ge, YJ ^{[1
]}

Xiao, B ^{[1
]}

Yu, Y ^{[1
]}

机构：

[1] Chinese Acad Sci, Grad Sch, Inst Intelligent Machines, Hefei 230031, Peoples R China

来源：

ICIA 2004: PROCEEDINGS OF 2004 INTERNATIONAL CONFERENCE ON INFORMATION ACQUISITION | 2004年

关键词：

Puma robot; six axes force/moment sensor; force control; fuzzy control theory;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Considering the deficiency of present robotic force control algorithm, we introduce artificial intelligent method in this paper. We attempt to combine fuzzy control theory with impedance control strategy, and attempt to control the external force on the robotic end-effector by this quomodo. The structure of the system is presented and the force controller is designed. Finally we show the results based on the practical experiments. It is a more effective strategy to solve the robotic force control problem.

引用

页码：494 / 497

页数：4

共 9 条

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