Abstract
Friction of each joint of a robot manipulator has to be effectively compensated for in order to realize precise position/force control of robot manipulators. Recently, soft computing techniques (fuzzy reasoning, neural networks, and genetic algorithm) have been playing an important role in the control of robots. Applying soft computing techniques, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose a two-stage adaptive robot manipulator position/force control method in which uncertain/unknown dynamic of the environment is compensated for in the task space and joint friction is effectively compensated for in the joint space using soft computing techniques. The effectiveness of the proposed control method was evaluated by experiments.
| Original language | English |
|---|---|
| Pages (from-to) | 141-144 |
| Number of pages | 4 |
| Journal | Unknown Journal |
| Publication status | Published - 1999 |
| Externally published | Yes |
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All Science Journal Classification (ASJC) codes
- Computer Science(all)
Cite this
Two-stage adaptation of a position/force robot controller - application of soft computing techniques. / Kiguchi, Kazuo; Watanabe, Keigo; Izumi, Kiyotaka; Fukuda, Toshio.
In: Unknown Journal, 1999, p. 141-144.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Two-stage adaptation of a position/force robot controller - application of soft computing techniques
AU - Kiguchi, Kazuo
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
AU - Fukuda, Toshio
PY - 1999
Y1 - 1999
N2 - Friction of each joint of a robot manipulator has to be effectively compensated for in order to realize precise position/force control of robot manipulators. Recently, soft computing techniques (fuzzy reasoning, neural networks, and genetic algorithm) have been playing an important role in the control of robots. Applying soft computing techniques, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose a two-stage adaptive robot manipulator position/force control method in which uncertain/unknown dynamic of the environment is compensated for in the task space and joint friction is effectively compensated for in the joint space using soft computing techniques. The effectiveness of the proposed control method was evaluated by experiments.
AB - Friction of each joint of a robot manipulator has to be effectively compensated for in order to realize precise position/force control of robot manipulators. Recently, soft computing techniques (fuzzy reasoning, neural networks, and genetic algorithm) have been playing an important role in the control of robots. Applying soft computing techniques, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose a two-stage adaptive robot manipulator position/force control method in which uncertain/unknown dynamic of the environment is compensated for in the task space and joint friction is effectively compensated for in the joint space using soft computing techniques. The effectiveness of the proposed control method was evaluated by experiments.
UR - http://www.scopus.com/inward/record.url?scp=0033314851&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033314851&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0033314851
SP - 141
EP - 144
JO - Quaternary International
JF - Quaternary International
SN - 1040-6182
ER -