Joystick teaching system for polishing robots using fuzzy compliance control

Fusaomi Nagata; Keigo Watanabe; Kazuo Kiguchi; Kunihiro Tsuda; Syuji Kawaguchi; Yuji Nodav; Masaki Komino

doi:10.1109/CIRA.2001.1013226

Joystick teaching system for polishing robots using fuzzy compliance control

Fusaomi Nagata, Keigo Watanabe, Kazuo Kiguchi, Kunihiro Tsuda, Syuji Kawaguchi, Yuji Nodav, Masaki Komino

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

17 Citations (Scopus)

Abstract

In this paper, a joystick teaching system using a fuzzy compliance control is presented for polishing robots. The joystick is regarded as a virtual spring-damper system, so that the joystick's compliance in operation can be easily adjusted according to the friction force acting between the polishing tool and the workpiece. In conventional compliance control, both the damping coefficient and the stiffness coefficient are generally selected to be suitable for each task by trial and error. Our proposed method described suitably generates the component of stiffness by a simple fuzzy reasoning method. The effectiveness of the proposed system has been examined by some teaching experiments using an industrial robot FS-20 with a PC based controller.

Original language	English
Title of host publication	Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publication	Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
Editors	Hong Zhang, Peter Xiaoping Liu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	362-367
Number of pages	6
Volume	2001-January
ISBN (Electronic)	0780372034
DOIs	https://doi.org/10.1109/CIRA.2001.1013226
Publication status	Published - Jan 1 2001
Externally published	Yes
Event	IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada Duration: Jul 29 2001 → Aug 1 2001

Other

Other	IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
Country/Territory	Canada
City	Banff
Period	7/29/01 → 8/1/01

All Science Journal Classification (ASJC) codes

Computational Mathematics

Access to Document

10.1109/CIRA.2001.1013226

Cite this

Nagata, F., Watanabe, K., Kiguchi, K., Tsuda, K., Kawaguchi, S., Nodav, Y., & Komino, M. (2001). Joystick teaching system for polishing robots using fuzzy compliance control. In H. Zhang, & P. X. Liu (Eds.), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001 (Vol. 2001-January, pp. 362-367). [1013226] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2001.1013226

Joystick teaching system for polishing robots using fuzzy compliance control. / Nagata, Fusaomi; Watanabe, Keigo; Kiguchi, Kazuo; Tsuda, Kunihiro; Kawaguchi, Syuji; Nodav, Yuji; Komino, Masaki.

Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. ed. / Hong Zhang; Peter Xiaoping Liu. Vol. 2001-January Institute of Electrical and Electronics Engineers Inc., 2001. p. 362-367 1013226.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nagata, F, Watanabe, K, Kiguchi, K, Tsuda, K, Kawaguchi, S, Nodav, Y & Komino, M 2001, Joystick teaching system for polishing robots using fuzzy compliance control. in H Zhang & PX Liu (eds), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. vol. 2001-January, 1013226, Institute of Electrical and Electronics Engineers Inc., pp. 362-367, IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001, Banff, Canada, 7/29/01. https://doi.org/10.1109/CIRA.2001.1013226

Nagata F, Watanabe K, Kiguchi K, Tsuda K, Kawaguchi S, Nodav Y et al. Joystick teaching system for polishing robots using fuzzy compliance control. In Zhang H, Liu PX, editors, Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. Vol. 2001-January. Institute of Electrical and Electronics Engineers Inc. 2001. p. 362-367. 1013226 https://doi.org/10.1109/CIRA.2001.1013226

Nagata, Fusaomi ; Watanabe, Keigo ; Kiguchi, Kazuo ; Tsuda, Kunihiro ; Kawaguchi, Syuji ; Nodav, Yuji ; Komino, Masaki. / Joystick teaching system for polishing robots using fuzzy compliance control. Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. editor / Hong Zhang ; Peter Xiaoping Liu. Vol. 2001-January Institute of Electrical and Electronics Engineers Inc., 2001. pp. 362-367

@inproceedings{7550f0311e7b4664859af17c2dc5fd64,

title = "Joystick teaching system for polishing robots using fuzzy compliance control",

abstract = "In this paper, a joystick teaching system using a fuzzy compliance control is presented for polishing robots. The joystick is regarded as a virtual spring-damper system, so that the joystick's compliance in operation can be easily adjusted according to the friction force acting between the polishing tool and the workpiece. In conventional compliance control, both the damping coefficient and the stiffness coefficient are generally selected to be suitable for each task by trial and error. Our proposed method described suitably generates the component of stiffness by a simple fuzzy reasoning method. The effectiveness of the proposed system has been examined by some teaching experiments using an industrial robot FS-20 with a PC based controller.",

author = "Fusaomi Nagata and Keigo Watanabe and Kazuo Kiguchi and Kunihiro Tsuda and Syuji Kawaguchi and Yuji Nodav and Masaki Komino",

year = "2001",

month = jan,

day = "1",

doi = "10.1109/CIRA.2001.1013226",

language = "English",

volume = "2001-January",

pages = "362--367",

editor = "Hong Zhang and Liu, {Peter Xiaoping}",

booktitle = "Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 ; Conference date: 29-07-2001 Through 01-08-2001",

}

TY - GEN

T1 - Joystick teaching system for polishing robots using fuzzy compliance control

AU - Nagata, Fusaomi

AU - Watanabe, Keigo

AU - Kiguchi, Kazuo

AU - Tsuda, Kunihiro

AU - Kawaguchi, Syuji

AU - Nodav, Yuji

AU - Komino, Masaki

PY - 2001/1/1

Y1 - 2001/1/1

N2 - In this paper, a joystick teaching system using a fuzzy compliance control is presented for polishing robots. The joystick is regarded as a virtual spring-damper system, so that the joystick's compliance in operation can be easily adjusted according to the friction force acting between the polishing tool and the workpiece. In conventional compliance control, both the damping coefficient and the stiffness coefficient are generally selected to be suitable for each task by trial and error. Our proposed method described suitably generates the component of stiffness by a simple fuzzy reasoning method. The effectiveness of the proposed system has been examined by some teaching experiments using an industrial robot FS-20 with a PC based controller.

AB - In this paper, a joystick teaching system using a fuzzy compliance control is presented for polishing robots. The joystick is regarded as a virtual spring-damper system, so that the joystick's compliance in operation can be easily adjusted according to the friction force acting between the polishing tool and the workpiece. In conventional compliance control, both the damping coefficient and the stiffness coefficient are generally selected to be suitable for each task by trial and error. Our proposed method described suitably generates the component of stiffness by a simple fuzzy reasoning method. The effectiveness of the proposed system has been examined by some teaching experiments using an industrial robot FS-20 with a PC based controller.

UR - http://www.scopus.com/inward/record.url?scp=70449095151&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70449095151&partnerID=8YFLogxK

U2 - 10.1109/CIRA.2001.1013226

DO - 10.1109/CIRA.2001.1013226

M3 - Conference contribution

AN - SCOPUS:70449095151

VL - 2001-January

SP - 362

EP - 367

BT - Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation

A2 - Zhang, Hong

A2 - Liu, Peter Xiaoping

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001

Y2 - 29 July 2001 through 1 August 2001

ER -

Joystick teaching system for polishing robots using fuzzy compliance control

Abstract

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this