Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator

被引：0
|
作者：
Petrovic, PB [1 ]
Milacic, VR [1 ]
机构：
[1] Univ Belgrade, Fac Mech Engn, Dept Prod Engn, YU-11000 Belgrade, Yugoslavia
来源：
JOURNAL OF INTELLIGENT MANUFACTURING | 1998年 / 9卷 / 04期
关键词：
manipulating robots; impedance control; mechanical isotropy; fuzzy sets;
D O I：
10.1023/A:1008987011755
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace.
引用
收藏
页码：369 / 375
页数：7
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