{"title":"Fuzzy compliance robot control","authors":"Seungwoo Kim, Mignon Park","doi":"10.1109/IROS.1991.174749","DOIUrl":null,"url":null,"abstract":"Proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, one needs more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adaptive controllers have difficulty in realtime processing. So in order to overcome it, the authors adopt fuzzy adaptive controller and propose fuzzy compliance vector generator for flexible compliant motion. They analyze and confirm the proposed algorithm by surface processing experiment with a control system implemented by VME system.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"2 5","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1991.174749","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 9
Abstract
Proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, one needs more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adaptive controllers have difficulty in realtime processing. So in order to overcome it, the authors adopt fuzzy adaptive controller and propose fuzzy compliance vector generator for flexible compliant motion. They analyze and confirm the proposed algorithm by surface processing experiment with a control system implemented by VME system.<>
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