A new adaptive fuzzy hybrid force/position control for intelligent robot deburring
Resource
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Journal
1999 IEEE International Conference on Robotics and Automation
Pages
-
Date Issued
1999-05
Date
1999-05
Author(s)
Hsu, Feng-Yih
DOI
N/A
Abstract
The major control problems for robot deburring mainly arise from the uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired robot motion profile and an inner-loop adaptive fuzzy hybrid force/position controller which can achieve the command in real time. To demonstrate the effectiveness of the present work, the approach proposed is applied to the control of a five degree-of-freedom articulated robot manipulator for deburring tasks.
SDGs
Type
journal article
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