대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
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Implementation of Adaptive Impedance Controller using Fuzzy Inference

  • 임용택 (순천향대 공대 제어계측공학과) ;
  • 김승우 (순천향대 공대 제어계측공학과)
  • 발행 : 2001.09.01
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초록

This paper proposes adaptive impedance control algorithm using fuzzy inference when robot contacts with its environments. The characteristics of the adaptive impedance controller is to adapt with parametric uncertainty and nonlinear conditions. The control algorithm is to join impedance controller with fuzzy inference engine. The proposed control method overcomes the problem of impedance controller using gain-tuning algorithm of fuzzy inference engine. We implemented an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the adaptive fuzzy impedance controller to one-link root system, and it shows the good performance on regulating the interactive force in case of contacting with arbitrary environment.

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참고문헌

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