Cart (Loading....) | Create Account
Close category search window

A unified approach to position and force control by fuzzy logic

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Shibata, M. ; Dept. of Electr. Eng., Keio Univ., Yokohama, Japan ; Murakami, T. ; Ohnishi, K.

This paper proposes a unified control strategy of position and force. The authors' technique is based on impedance control with fuzzy logic and realizes the smooth shift from position control to force control and vice versa. At first, a robust impedance controller based on a disturbance observer is shown, and the method to unify the position and the force control through one controller is described. Next, an algorithm to estimate the dynamic characteristics of the environment is shown, and a force tracking control using the estimated parameters is proposed. Finally, the unified control algorithm of position and force based on fuzzy logic is established. The validity of this method is confirmed by several experimental results

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:43 ,  Issue: 1 )

Date of Publication:

Feb 1996

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.