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 |
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Pages (from-to) | 641-649 |
Number of pages | 9 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 47 |
Issue number | 3 |
DOIs | |
Publication status | Published - Dec 3 2000 |
Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering