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
相关论文
共 50 条
  • [31] DESIGN OF AN ADAPTIVE FUZZY ESTIMATOR FOR FORCE/POSITION TRACKING IN ROBOT MANIPULATORS
    Naghsh, A.
    Sheikholeslam, F.
    Danesh, M.
    [J]. IRANIAN JOURNAL OF FUZZY SYSTEMS, 2014, 11 (01): : 75 - 89
  • [32] Imperialist Competitive Algorithm Optimised Adaptive Neuro Fuzzy Controller for Hybrid Force Position Control of an Industrial Robot Manipulator: A Comparative Study
    Chaudhary, Himanshu
    Panwar, Vikas
    Sukavanam, N.
    Chahar, Bhawna
    [J]. FUZZY INFORMATION AND ENGINEERING, 2020, 12 (04) : 435 - 451
  • [33] ON THE IMPLEMENTATION OF AN ADAPTIVE HYBRID POSITION FORCE CONTROL FOR MANIPULATORS
    EUN, T
    CHO, HS
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 1987, 201 (06) : 403 - 412
  • [34] Robust hybrid position/force control with adaptive scheme
    Ha, IC
    Han, MC
    [J]. JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 2004, 47 (04) : 1161 - 1165
  • [35] Adaptive force and position control of robot manipulator based on hyperstability
    Ham, WC
    [J]. SICE '98 - PROCEEDINGS OF THE 37TH SICE ANNUAL CONFERENCE: INTERNATIONAL SESSION PAPERS, 1998, : 843 - 846
  • [36] Adaptive force/position control of robot manipulators with bounded inputs
    Lina Rojas-García
    Isela Bonilla-Gutiérrez
    Marco Mendoza-Gutiérrez
    César Chávez-Olivares
    [J]. Journal of Mechanical Science and Technology, 2022, 36 : 1497 - 1509
  • [37] Adaptive force/position control of robot manipulators with bounded inputs
    Rojas-Garcia, Lina
    Bonilla-Gutierrez, Isela
    Mendoza-Gutierrez, Marco
    Chavez-Olivares, Cesar
    [J]. JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2022, 36 (03) : 1497 - 1509
  • [38] Prescribed Performance Adaptive Control for Robot Force/Position Tracking
    Bechlioulis, C.
    Doulgeri, Z.
    Rovithakis, G.
    [J]. 2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3, 2009, : 920 - 925
  • [39] On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach
    Baigzadehnoe, Barmak
    Rahmani, Zahra
    Khosravi, Alireza
    Rezaie, Behrooz
    [J]. ISA TRANSACTIONS, 2017, 70 : 432 - 446
  • [40] Two-stage adaptive robot position/force control using fuzzy reasoning and neural networks
    Kiguchi, K
    Watanabe, K
    Izumi, K
    Fukuda, T
    [J]. ADVANCED ROBOTICS, 2000, 14 (03) : 153 - 168
12345