Position/force control of robot manipulators for geometricallyunknown objects using fuzzy neural networks
Kiguchi, K.
Fukuda, T.
Niigata Coll. of Technol.;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Jun 2000
Volume: 47,
Issue: 3
On page(s): 641-649
ISSN: 0278-0046
References Cited: 9
CODEN: ITIED6
INSPEC Accession Number: 6624313
Digital Object Identifier: 10.1109/41.847905
Current Version Published: 2002-08-06
Abstract
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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