Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Fuzzy stiffness control of Robot manipulator

로봇 매니퓰레이터의 퍼지 강성 제어

  • Kang, S.T. (Dept. of Control & Instrumentation Eng. Ajou Univ.) ;
  • Ji, J.H. (Dept. of Control & Instrumentation Eng. Ajou Univ.) ;
  • Hong, S.K. (School of Electronics Eng. Ajou Univ.)
  • 강상태 (아주대학원 제어계측 공학과) ;
  • 지종환 (아주대학원 제어계측 공학과) ;
  • 홍석교 (아주대학교 전자공학부)
  • Published : 1998.07.20
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Abstract

We present a fuzzy model for a robot manipulator and use the model to decide the PD gains of a stiffness controller. Force control applications are extremely difficult to accomplish with such a stiffness robot because robot itself, unknown environment. So we identify a fuzzy model by using Hough transform. We present a method of design of the PD gains of the stiffness controller. We aim at controlling the end-effecor force in the face of uncertainty on the surface stillness. simulation results verify the effectiveness of the proposed strategy.

Keywords