DocumentCode :
299939
Title :
Robot manipulator contact force control application of fuzzy-neural network
Author :
Kiguchi, Kazuo ; Fukuda, Toshio
Author_Institution :
Dept. of Ind. & Syst. Eng., Niigata Coll. of Technol., Niigata, Japan
Volume :
1
fYear :
1995
fDate :
21-27 May 1995
Firstpage :
875
Abstract :
A lot of researches have been done on fuzzy-neural control, the combination of neural networks control which has a learning ability from experiments and fuzzy control which has an ability of dealing with human knowledge, in order to make up for each other´s weak points. In this paper, fuzzy-neural controller is introduced for robot manipulator contact force control to an unknown environment. A robot manipulator controller, which approaches, contacts and applies force to the environment, is designed using fuzzy logic in order to realize human like control and then modeled as a neural network to adjust membership functions and rules in order to achieve desired contact force control. Error between desired force and measured force and momentum of robot manipulator are used as input signals of the controller. Simulation has done using a 3DOF planar robot manipulator to confirm the effectiveness of the controller for the tasks of approach, contact and force control
Keywords :
force control; fuzzy control; fuzzy neural nets; manipulators; neurocontrollers; 3DOF planar robot manipulator; fuzzy logic; fuzzy-neural control; fuzzy-neural network; learning ability; membership functions; robot manipulator contact force control application; unknown environment; Error correction; Force control; Force measurement; Fuzzy control; Fuzzy logic; Humanoid robots; Humans; Manipulators; Neural networks; Robot control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
ISSN :
1050-4729
Print_ISBN :
0-7803-1965-6
Type :
conf
DOI :
10.1109/ROBOT.1995.525393
Filename :
525393
Link To Document :
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