전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제33B권11호
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- Pages.1-10
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- 1996
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- 1016-135X(pISSN)
퍼지몰텔을 이용한 매니퓰레이터의 강성 제어
A stiffness control of a manipulator using a fuzzy model
초록
In this paper, we suggest a new identification method based on the takagi-sugeno fuzzy model which prepresents an envrionmental stiffness and propose a method to decide PD gains of the PD controller. It is difficult to perform a compliance task due to characteristics of robot itself and uncertain work envronment. Therefore, in this paper, we identify the fuzzy rule by dividing the relationship of input-output data into several piecewise-linear equations using the hough transform which is the one this fuzzy model, we propose a method to design the pD gain. We show the validity of this method by the experiment of tracking the surface of the paper box as an example of variable environment using robot manipulator and force sensing system. As a performance index, we use the settling time, and perform an analysis between conventional PD contorllers and this controller.
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