模糊柔顺机器人控制

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI:10.1109/IROS.1991.174749

Seungwoo Kim, Mignon Park

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引用次数: 9

摘要

提出了一种基于模糊自适应控制器和模糊柔度向量生成器的柔度机器人控制算法。由于机器人与外界环境的接触使得机器人动力学中的线性建模变得越来越困难，因此在柔性机器人控制中，需要更强的自适应能力。现有的自适应控制器在实时处理方面存在困难。为此，作者采用模糊自适应控制器，提出了柔性柔顺运动的模糊柔度矢量发生器。通过VME系统实现的控制系统的表面加工实验，对所提出的算法进行了分析和验证。

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Fuzzy compliance robot control

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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来源期刊

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

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