Position/force control of robot manipulators for geometricallyunknown objects using fuzzy neural networks
Kiguchi, K.; Fukuda, T.
Industrial Electronics, IEEE Transactions on
Volume 47, Issue 3, Jun 2000 Page(s):641 - 649
Digital Object Identifier   10.1109/41.847905
Summary:In order to carry out the tasks of grinding, deburring, polishing or wiping, the end-effector of the robot manipulator has to follow the contour of an object. In this paper, the authors propose a fuzzy vector method, which enables the controller to deal efficiently with force sensor signals which include noise and/or unknown vibrations caused by the working tool, to search the direction of the constraint surface of an unknown object

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