Fuzzy selection of fuzzy-neuro robot force controllers in an unknown environment

Author

Kiguchi, Kazuo ; Fukuda, Toshio

Author_Institution

Dept. of Ind. & Syst. Eng., Niigata Coll. of Technol., Japan

Volume

2

fYear

1999

fDate

1999

Firstpage

1182

Abstract

In this paper, an effective control policy for robot contact tasks with an unknown environment is proposed using fuzzy-neural techniques. In this control policy, a neural network is applied to classify the unknown environment based on its dynamic response and then fuzzy selector selects the suitable fuzzy neural force controllers. The selected fuzzy neural force controllers are able to realize the desired contact force precisely using their online adaptation ability. The fuzzy selection of controllers realize force control with the environment whose suitable fuzzy neural force controller is not prepared. The effectiveness of the proposed method is evaluated by experiment with a 2-DOF planar robot manipulator

Keywords

dynamic response; force control; fuzzy control; fuzzy neural nets; manipulator dynamics; neurocontrollers; contact force; dynamic response; force control; fuzzy control; fuzzy-neural networks; neurocontrol; planar robot manipulator; Control systems; Force control; Fuzzy control; Fuzzy neural networks; Humans; Manipulator dynamics; Neural networks; Programmable control; Robot control; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.772522

Filename

772522