Ching-Chang Wong, Siang-Lin You, Ren-jie Chen, Yuesheng Liu
{"title":"Intuitive Teaching of Six-axis Robot Manipulator Based on Fuzzy Impedance Control","authors":"Ching-Chang Wong, Siang-Lin You, Ren-jie Chen, Yuesheng Liu","doi":"10.1109/CACS.2018.8606729","DOIUrl":null,"url":null,"abstract":"In this paper, a design and implementation method of a fuzzy impedance control method and an intuitive teaching system is proposed for a six-axis robot manipulator. The impedance controller with a fuzzy parameter K controller is proposed to calculate the parameter K to achieve the desired position output more precisely. In the design and implementation of the teaching system, an instructor can directly apply a push/pull force on the end-effector of robot manipulator to move its position and edit the task so that the robot manipulator can perform the movement of task position and the gripper’s state.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"67 1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Automatic Control Conference (CACS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CACS.2018.8606729","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In this paper, a design and implementation method of a fuzzy impedance control method and an intuitive teaching system is proposed for a six-axis robot manipulator. The impedance controller with a fuzzy parameter K controller is proposed to calculate the parameter K to achieve the desired position output more precisely. In the design and implementation of the teaching system, an instructor can directly apply a push/pull force on the end-effector of robot manipulator to move its position and edit the task so that the robot manipulator can perform the movement of task position and the gripper’s state.
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