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

Volume

47

Issue

3

fYear

2000

fDate

6/1/2000 12:00:00 AM

Firstpage

641

Lastpage

649

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;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.847905

Filename

847905