Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks

Kazuo Kiguchi; Toshio Fukuda

doi:10.1109/41.847905

Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks

Kazuo Kiguchi, Toshio Fukuda

Research output: Contribution to journal › Article

76 Citations (Scopus)

Abstract

In order to carry out the tasks of grinding, deburring, polishing, or wiping, the end-effector of the robot manipulator has to follow the contour of an object. In this paper, we propose a fuzzy vector method, which enables the controller to deal efficiently with force sensor signals which include noise and/or unknown vibrations caused by the working tool, to search the direction of the constraint surface of an unknown object.

Original language	English
Pages (from-to)	641-649
Number of pages	9
Journal	IEEE Transactions on Industrial Electronics
Volume	47
Issue number	3
DOIs	https://doi.org/10.1109/41.847905
Publication status	Published - Dec 3 2000
Externally published	Yes

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/41.847905

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Kiguchi, K., & Fukuda, T. (2000). Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks. IEEE Transactions on Industrial Electronics, 47(3), 641-649. https://doi.org/10.1109/41.847905

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