Fuzzy selection of fuzzy-neuro robot force controllers in an unknown environment

Kazuo Kiguchi, Toshio Fukuda

Research output: Contribution to journalConference article

6 Citations (Scopus)

Abstract

A precise force control method is proposed for robot manipulator force control in an unknown environment. The proposed force controller consists of an off-line trained neural network that classifies an unknown environment instantly, several fuzzy-neuro force controllers suitably designed for initially expected environments to be applied, and a fuzzy controller selector which selects the suitable fuzzy-neuro force controllers with a proper ratio according to the properties of the environment. Experimental results obtained by using a 2DOF planar robot manipulator show the effectiveness of the proposed force control method.

Original languageEnglish
Pages (from-to)1182-1187
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - Jan 1 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

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All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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