• Title/Summary/Keyword: 자유 트위스트

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5자유도 순응기구

  • 정경한;최용제
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.10a
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    • pp.90-90
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    • 2003
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Kinestatic Control using a Compliant Device by Fuzzy Logic (퍼지 논리에 의한 순응기구의 위치/힘 동시제어)

  • Seo, Jeong-Wook;Choi, Yong-Je
    • Proceedings of the KSME Conference
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    • 2004.04a
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    • pp.917-922
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    • 2004
  • As the tasks of robots become more diverse, some complicated tasks have come to require force and position hybrid control. A compliant device can be used to control force and position simultaneously by separating the twist of the robot's end effector from the twist of compliance and freedom by using stiffness mapping of the compliant device. The development of a fuzzy gain scheduling scheme of control for a robot with a compliant device is described in this paper. Fuzzy rules and reasoning are performed on-line to determine the gain of twists based on wrench error and twist error and twist of compliance and twist of freedom ratio. Simulation results demonstrate that better control performance can be achieved in comparison with constant gain control.

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