Title :
Hybrid force/position robot control using an adaptive fuzzy control method
Author :
Woo Kim, Seung ; Sik Noh, Heung ; Min Woo, Dong ; Park, Mignon
Author_Institution :
Dept. of Control & Instrum. Eng., Soonchunhyang Univ., Chungnam, South Korea
Abstract :
A fuzzy adaptive controller, which is able to solve the problems of classical adaptive controllers and conventional fuzzy adaptive controllers, is suggested in this paper. The suggested design method is applied to hybrid robot control. The architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller is explained. A design procedure which can be carried out mathematically and systematically from the model of an objective system is suggested. This fuzzy adaptive controller is used in the control algorithm which is adaptive to the parametric uncertainty in hybrid force/position robot system, and its practicality is confirmed by an experiment on hybrid force/position robot system
Keywords :
adaptive control; control system synthesis; force control; fuzzy control; position control; robots; robust control; adaptive fuzzy control method; design method; hybrid force/position robot control; parametric uncertainty; robust property; Adaptive control; Control systems; Design methodology; Force control; Fuzzy control; Fuzzy systems; Mathematical model; Programmable control; Robot control; Robust control;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525814
