Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks

被引：77

作者：

Kiguchi, K

Fukuda, T

机构：

[1] Niigata Coll Technol, Niigata 95021, Japan

[2] Nagoya Univ, Ctr Cooperat Res Adv Sci & Technol, Nagoya, Aichi 4648603, Japan

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2000年 / 47卷 / 03期

关键词：

force control; force measurement; fuzzy logic; fuzzy neural networks; intelligent control; robots;

D O I：

10.1109/41.847905

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to carry out the tasks of grinding, deburring, polishing, or wiping, the end-effector of the robot manipulator has to follow the contour of an object. In this paper, we propose a fuzzy vector method, which enables the controller to deal efficiently with force sensor signals which include noise and/or unknown vibrations caused by the working tool, to search the direction of the constraint surface of an unknown object.

引用

页码：641 / 649

页数：9

共 9 条

[1]

Bossert D, 1996, IEEE INT CONF ROBOT, P2252, DOI 10.1109/ROBOT.1996.506499

[2]

HSU F, 1996, P IEEE INT C ROB AUT, P2232

[3] Intelligent position/force controller for industrial robot manipulators - Application of fuzzy neural networks [J].