Intelligent position/force controller for industrial robot manipulators-application of fuzzy neural networks

Author

Kiguchi, Kazuo ; Fukuda, Toshio

Author_Institution

Dept. of Ind. & Syst. Eng., Niigata Coll. of Technol., Japan

Volume

44

Issue

6

fYear

1997

fDate

12/1/1997 12:00:00 AM

Firstpage

753

Lastpage

761

Abstract

An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator. The proposed controller deals with the human expert knowledge and skills for planning and control. In this paper, it is applied to the task of deburring with an unknown object. The effectiveness of the proposed controller is evaluated by computer simulations

Keywords

adaptive control; control system analysis computing; control system synthesis; force control; fuzzy control; fuzzy neural nets; industrial manipulators; intelligent control; machining; neurocontrollers; position control; adaptive fuzzy neural force control; adaptive fuzzy neural position control; computer simulation; control design; control simulation; deburring task; human expert knowledge; human skills; industrial robot manipulators; intelligent controller; intelligent planner; Adaptive control; Force control; Fuzzy control; Humans; Industrial control; Intelligent robots; Manipulators; Programmable control; Robot control; Service robots;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.649935

Filename

649935