Hierarchical fuzzy force control for industrial robots
Shih-Tin Lin
Ang-Kiong Huang
Dept. of Mech. Eng., Nat. Chung-Hsing Univ., Taichung;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Aug 1998
Volume: 45,
Issue: 4
On page(s): 646-653
ISSN: 0278-0046
References Cited: 20
CODEN: ITIED6
INSPEC Accession Number: 6000793
Digital Object Identifier: 10.1109/41.704894
Current Version Published: 2002-08-06
Abstract
In this paper, we present a hierarchical force control framework
consisting of a high-level control system based on fuzzy logic and the
existing motion control system of a manipulator in the low level. In
order to adapt various contact conditions, an adaptable fuzzy force
control scheme has been proposed to improve the performance. The ability
of the adaptable force control system is achieved by tuning the scaling
factor of the fuzzy logic controller (FLC). A Mitsubishi MELFA RV-M1
industrial robot equipped with a BL Force/Torque sensor is utilized for
implementing the hierarchical fuzzy force control system. Successful
experiments for various contact motions are carried out. Additionally,
discussion of a peg-in-hole insertion is presented, and the experimental
results are given
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