Title :
Joystick teaching system for polishing robots using fuzzy compliance control
Author :
Nagata, Fusaomi ; Watanabe, K. ; Kiguchi, Kazuo ; Tsuda, Kunihiro ; Kawaguchi, Syuji ; Noda, Yuji ; Komino, Masaki
Author_Institution :
Interior Design Res. Inst., Fukuoka Ind. Technol. Center, Japan
Abstract :
A joystick teaching system using a fuzzy compliance control is presented for polishing robots. The joystick is regarded as a virtual spring-damper system, so that the joystick´s compliance in operation can be easily adjusted according to the friction force acting between the polishing tool and the workpiece. In conventional compliance control, both the damping coefficient and the stiffness coefficient are generally selected to be suitable for each task by trial and error. Our proposed method described suitably generates the component of stiffness by a simple fuzzy reasoning method. The effectiveness of the proposed system has been examined by some teaching experiments using an industrial robot FS-20 with a PC based controller.
Keywords :
compensation; compliance control; force control; friction; fuzzy control; fuzzy logic; inference mechanisms; interactive devices; polishing; robot programming; FS-20 industrial robot; PC based controller; damping coefficient; friction force; fuzzy compliance control; fuzzy reasoning method; joystick teaching system; polishing robots; stiffness coefficient; virtual spring-damper system; Control systems; Damping; Education; Educational robots; Electrical equipment industry; Error correction; Friction; Fuzzy control; Fuzzy reasoning; Fuzzy systems;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on
Print_ISBN :
0-7803-7203-4
DOI :
10.1109/CIRA.2001.1013226
