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 | |
| 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 | Canada |
| City | Banff |
| Period | 7/29/01 → 8/1/01 |
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All Science Journal Classification (ASJC) codes
- Computational Mathematics
Cite this
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
}
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.
ER -