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

Kazuo Kiguchi, Toshio Fukuda

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)641-649
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume47
Issue number3
DOIs
Publication statusPublished - Dec 3 2000
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks'. Together they form a unique fingerprint.

  • Cite this