Title :
Position-based impedance control using a fuzzy compensator
Author :
Nagata, Fusaomi ; Watanabe, Keigo ; Izumi, Kiyotaka
Author_Institution :
Interior Design Res. Inst., Fukuoka Ind Technol. Center, Japan
Abstract :
A position based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of the PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics
Keywords :
feedforward; force control; fuzzy control; manipulators; position control; PUMA560 manipulator; curved surface; feedforward command; force control; force control performance; fuzzy compensator; position based impedance control; position compensation; profiling control simulations; unknown dynamic characteristics; Control systems; Design engineering; Electrical equipment industry; Electronic mail; Force control; Fuzzy control; Industrial control; Manipulator dynamics; Service robots; Surface impedance;
Conference_Titel :
Knowledge-Based Intelligent Information Engineering Systems, 1999. Third International Conference
Conference_Location :
Adelaide, SA
Print_ISBN :
0-7803-5578-4
DOI :
10.1109/KES.1999.820136
