Title :
Coordinative motion control for different kind of manipulators using a fuzzy compensator
Author :
Izumi, K. ; Watanabe, K. ; Hirao, T.
Author_Institution :
Dept. of Mech. Eng., Saga Univ., Japan
Abstract :
We describe a coordinative motion control based on the master/slave method for different kinds of manipulators. The master side consists of a pantagraph-type two link manipulator driven by a torque command, whereas the slave side is an industrial manipulator driven by a position command with a force/torque sensor. It is difficult to maintain a desired contact force by only a master/slave method. To maintain a desired contact force, a compensative position command is generated by using fuzzy reasoning with the force sensor information. The effectiveness is verified by experiments
Keywords :
compensation; force control; force sensors; fuzzy control; fuzzy logic; fuzzy set theory; industrial manipulators; inference mechanisms; motion control; torque control; coordinative motion control; force/torque sensor; fuzzy compensator; fuzzy reasoning; industrial manipulator; master/slave method; pantagraph-type two link manipulator; position command; torque command; Electrical equipment industry; Force control; Force sensors; Fuzzy control; Fuzzy set theory; Manipulator dynamics; Master-slave; Motion control; Torque; Trajectory;
Conference_Titel :
Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on
Conference_Location :
Adelaide, SA
Print_ISBN :
0-7803-4316-6
DOI :
10.1109/KES.1998.726009
