Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Study on Implementation of Stable Interaction Control System

  • Yongteak Lim (Dept. of Electrical & Electrical Engineering, soonchunhyang University) ;
  • Kim, Seungwoo (Dept. of Electrical & Electrical Engineering, soonchunhyang University)
  • Published : 2000.07.01
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Abstract

We introduce Adaptive Fuzzy Impedance Controller for position and force control when robot contact with environment. Because Robot and environment was always effected by nonlinear conditions, it need to deal with parameter’s uncertainty. For solving this problem, it induced Fuzzy System in Impedance Control so fuzzy system is impedance’s stiffness gain. We apply adaptive fuzzy impedance controller in One-Link Robot System, it shows the good performance on desired position control and force control about contacting with arbitrarily environment.

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