Fuzzy-neuro position/force control of robot manipulators - two-stage adaptation approach

Kazuo Kiguchi, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

Position/force control is one of the most important and fundamental tasks of robot manipulators. Since the desired position and force required to perform certain tasks are usually designated in the operational space, the control force vector should be given to the end-effector in the operational space. However, friction of each joint of a robot manipulator impedes control accuracy. Therefore, friction should be effectively compensated for in order to realize precise control of robot manipulators. Recently, fuzzy-neuro approach, a combination of fuzzy reasoning and neural networks, have been playing an important role in the control of robots. Applying fuzzy-neuro approach, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose an effective robot manipulator fuzzy-neuro position/force control method in which joint friction is effectively compensated for using adaptive friction models. The effectiveness of the proposed control method was evaluated by experiments.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
Pages448-453
Number of pages6
Volume1
Publication statusPublished - 1999
Externally publishedYes
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: Oct 17 1999Oct 21 1999

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period10/17/9910/21/99

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Kiguchi, K., & Fukuda, T. (1999). Fuzzy-neuro position/force control of robot manipulators - two-stage adaptation approach. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 448-453). IEEE.