Title :
Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks
Author :
Kiguchi, Kazuo ; Fukuda, Toshio
Author_Institution :
Niigata Coll. of Technol., Japan
fDate :
6/1/2000 12:00:00 AM
Abstract :
In order to carry out the tasks of grinding, deburring, polishing or wiping, the end-effector of the robot manipulator has to follow the contour of an object. In this paper, the authors propose a fuzzy vector method, which enables the controller to deal efficiently with force sensor signals which include noise and/or unknown vibrations caused by the working tool, to search the direction of the constraint surface of an unknown object
Keywords :
control system synthesis; force control; fuzzy control; fuzzy neural nets; machine tools; machining; manipulators; neurocontrollers; position control; uncertain systems; constraint surface direction; contour following; deburring; end-effector; force control; force sensor signals; fuzzy neural networks; fuzzy vector method; geometrically unknown objects; grinding; polishing; position control; robot manipulators; vibrations; wiping; working tool; Deburring; Force control; Force sensors; Friction; Fuzzy control; Fuzzy neural networks; Manipulators; Robot sensing systems; Vibration control; Working environment noise;
Journal_Title :
Industrial Electronics, IEEE Transactions on
