A self-tuning fuzzy robotic force controller

被引：0
|
作者：
Bicker, R [1 ]
Hu, ZX [1 ]
Burn, K [1 ]
机构：
[1] Univ Newcastle Upon Tyne, Dept Mech Engn, Newcastle Upon Tyne NE1 7RU, Tyne & Wear, England
来源：
ROMANSY 14 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS | 2002年 / 438期
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：
Most industrial robots are controlled as position servo-based manipulators. This has made most advanced force control algorithms unpractical and difficult to implement. In this paper a position based fuzzy PID force controller is proposed to regulate contact force of a six degree of freedom industrial robot where the environment contact stiffness varies considerably. Based on a relationship between fuzzy PID and conventional PID control laws and the application of a simple fuzzy self-tuning method, the controller is tuned and satisfying experimental results have been obtained to validate its efficiency.
引用
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页码：119 / 126
页数：8
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