A new design of hierarchical fuzzy hybrid position/force control for flexible link robot arm

被引：0
|
作者：
Lin, J [1 ]
Chiang, TS [1 ]
机构：
[1] Ching Yun Inst Technol, Dept Mech Engn, Jhongli 320, Taiwan
来源：
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2003年
关键词：
hierarchical fuzzy logic; constrained; hybrid position/force control;
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 subject of this article is the examination of dynamics and control issues of a robotic manipulator modeled with link structural flexibility during execution of a task that requires the robot tip to contact fixed rigid objects in the work environment. In this paper, the hybrid position/force control for flexible link robot arm is adopted. Therefore, a multi-time scale fuzzy logic controller will be applied for such system. Using this methodology, the control of the force and the position of the end point are possible while the end effector moves on the constraint surface.
引用
收藏
页码：5239 / 5244
页数：6
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