抄録
A precise force control method is proposed for robot manipulator force control in an unknown environment. The proposed force controller consists of an off-line trained neural network that classifies an unknown environment instantly, several fuzzy-neuro force controllers suitably designed for initially expected environments to be applied, and a fuzzy controller selector which selects the suitable fuzzy-neuro force controllers with a proper ratio according to the properties of the environment. Experimental results obtained by using a 2DOF planar robot manipulator show the effectiveness of the proposed force control method.
| 本文言語 | 英語 |
|---|---|
| ページ（範囲） | 1182-1187 |
| ページ数 | 6 |
| ジャーナル | Proceedings - IEEE International Conference on Robotics and Automation |
| 巻 | 2 |
| 出版ステータス | 出版済み - 1月 1 1999 |
| 外部発表 | はい |
| イベント | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA 継続期間: 5月 10 1999 → 5月 15 1999 |
!!!All Science Journal Classification (ASJC) codes
- ソフトウェア
- 制御およびシステム工学
- 人工知能
- 電子工学および電気工学