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Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks

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2 Author(s)
K. Kiguchi ; Niigata Coll. of Technol., Japan ; T. Fukuda

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

Published in:

IEEE Transactions on Industrial Electronics  (Volume:47 ,  Issue: 3 )