대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
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- Pages.2354-2356
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- 1998
로봇 매니퓰레이터의 퍼지 강성 제어
Fuzzy stiffness control of Robot manipulator
- 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.)
- 발행 : 1998.07.20
초록
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.
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