A new adaptive fuzzy hybrid force/position control for intelligent robot deburring

被引：0
|
作者：
Hsu, FY [1 ]
Fu, LC [1 ]
机构：
[1] Natl Taiwan Univ, Dept Elect Engn, Taipei, Taiwan
来源：
ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS | 1999年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The major control problems for robot deburring mainly arise from 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 realtime achieve the command. To demonstrate the effectiveness of the present work, it is applied to the control of a Foe degree-of-freedom (DOF) articulated robot manipulator for deburring tasks.
引用
收藏
页码：2476 / 2481
页数：6
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