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 proceedingConference contribution

13 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 languageEnglish
Title of host publicationProceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationIntegrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
EditorsHong Zhang, Peter Xiaoping Liu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages362-367
Number of pages6
Volume2001-January
ISBN (Electronic)0780372034
DOIs
Publication statusPublished - Jan 1 2001
Externally publishedYes
EventIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada
Duration: Jul 29 2001Aug 1 2001

Other

OtherIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
CountryCanada
CityBanff
Period7/29/018/1/01

Fingerprint

Compliance control
Polishing
Fuzzy control
Compliance
Teaching
Robot
Stiffness
Robots
Industrial robots
Industrial Robot
Fuzzy Reasoning
Trial and error
Damping
Damper
Coefficient
Friction
Controllers
Controller
Experiments
Experiment

All Science Journal Classification (ASJC) codes

  • Computational Mathematics

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 proceedingConference 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
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