位置伺服驱动工业机械臂的显式模糊力控制

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407362

I. Suh, K. Eom, H. Yeo, B. Kang, Sang-Rok Oh, B. Lee

{"title":"位置伺服驱动工业机械臂的显式模糊力控制","authors":"I. Suh, K. Eom, H. Yeo, B. Kang, Sang-Rok Oh, B. Lee","doi":"10.1109/IROS.1994.407362","DOIUrl":null,"url":null,"abstract":"In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Explicit fuzzy force control of industrial manipulators with position servo drives\",\"authors\":\"I. Suh, K. Eom, H. Yeo, B. Kang, Sang-Rok Oh, B. Lee\",\"doi\":\"10.1109/IROS.1994.407362\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.<<ETX>>\",\"PeriodicalId\":437805,\"journal\":{\"name\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"volume\":\"22 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-09-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1994.407362\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1994.407362","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 7

摘要

本文针对安装位置伺服驱动的商用工业机器人，提出了一种模糊力控制算法，根据环境刚度的大小改变模糊控制器的控制规则，使得无论环境刚度如何变化，都能保持良好的力响应。具体而言，针对几个具有代表性的环境刚度值设计了模糊控制规则，然后利用模糊插值法确定给定任意环境刚度值的控制动作。为了验证所提出的模糊控制器的有效性，给出了几个实验结果，其中一个五轴关节机器人机械手配备了腕力/扭矩传感器系统和我们的原型双机器人控制器。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Explicit fuzzy force control of industrial manipulators with position servo drives

In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.<>

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

自引率

0.00%

发文量