DocumentCode
2053534
Title
High precision fuzzy impedance control of free-form surfaces polishing robotic arm based on position control
Author
Yueyan, Chen ; Ji, Zhao ; Bidou, Wang ; Shuang, Han
Author_Institution
Inst. of Mech. Sci. & Eng., Jilin Univ., Changchun
fYear
2005
fDate
24-28 July 2005
Firstpage
819
Lastpage
824
Abstract
In this paper, a novel impedance control method for high precision fuzzy controller with self adjustment quantitative factor is presented. This method can not only realize the real-time control by adjusting impedance parameters, but also enhance the stability and dynamic characteristics of the system. We have demonstrated this strategy is feasible and effective based on the simulation researches of free-form surfaces polishing robotic arm
Keywords
fuzzy control; industrial manipulators; mechanical variables control; polishing; polishing machines; position control; stability; free-form surfaces polishing robotic arm; high precision fuzzy impedance control; position control; real-time control; self adjustment quantitative factor; stability; Armature; Control systems; Force control; Fuzzy control; Intelligent robots; Position control; Pulse width modulation; Robot sensing systems; Stability; Surface impedance;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-9047-4
Type
conf
DOI
10.1109/AIM.2005.1511084
Filename
1511084
Link To Document