Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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A Study on the Fuzzy Learning Control for Force Control of Robot Manipulators

로봇 매니퓰레이터의 힘제어를 위한 퍼지 학습제어에 관한 연구

  • 황용연 (부경대학교 전기·제어계측공학부)
  • Published : 2002.09.01
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Abstract

A fuzzy learning control algorithm is proposed in this paper. In this method, two fuzzy controllers are used as a feedback and a feedforward type. The fuzzy feedback controller can be designed using simple knowledge for the controlled system. On the other hand, the fuzzy feedforward controller has a self-organizing mechanism and therefore, it does not need any knowledge in advance. The effectiveness of the proposed algorithm is demonstrated by experiment on the position and force control problem of a parallelogram type robot manipulator with two degrees of freedom. It is shown that the rapid learning and the robustness can be achieved by adopting the proposed method.

Keywords

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