Joystick Teaching System for Industrial Robots Using Fuzzy Compliance Control

Abstract

eyes. When handy air-driven tools are used in robotic sanding, keeping contact with the curved surface of the workpiece along the normal direction is very important to obtain a good surface quality. If the orientation of the sanding tool largely deviates from normal direction, then the kinetic friction force tends to become unstable. Consequently, smooth and uniform surface quality can’t be achieved. That is the reason why a novel teaching system that assists the operator is now being expected in the manufacturing field of furniture. In this paper, an impedance model following force control is first proposed for an industrial robot with an open architecture servo controller. The control law allows the robot to follow a desired contact force through an impedance model in Cartesian space. And, a fuzzy compliance control is also presented for an advanced joystick teaching system, which can provide the friction force acting