MANIPULATION
Fuzzy rule based position/force control of industrial manipulators
Il Hong Suh, Jong Hyuck Hong, Sang–Rok Oh, Kwang Bae Kim
- Year
- 2002
- Citations
- 10
Abstract
A force/position control method is proposed for robot manipulators equipped with a wrist force/torque sensor and position servo drives. Especially, fuzzy PI gain tuning rules are suggested to improve the transient force response. To show the validity of the proposed method, a numerical example employing a two-link manipulator is given.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
Position (finance)Control theory (sociology)Fuzzy logicServomotorTorqueComputer scienceControl engineeringFuzzy ruleFuzzy control systemServomechanism
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