Design and implementation of a dual-arm robot control system with multi-sensor integrating capability

In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where umtrol rules of the proposed t;zzv umtroller are changed accordmg to the magnitude of environmental stiffness in such a way that good force respcmse is maintained regardless of changes of en-t al stiffness. S~c a l l y , "e fuzzy control rules are designed for several representative environmental s t i f k s s values, and then a umtrol action for a given arbitrary envhnmental stiffieess value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy umtmller, several expehental results are illustrated, where a S-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our p r o t o w dual robot controller are employed.

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Explicit fuzzy force control of industrial manipulators with position servo drives

Suh

Eom

Yeo

et al.

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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Design and implementation of a dual-arm robot control system with multi-sensor integrating capability

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Explicit fuzzy force control of industrial manipulators with position servo drives

Explicit fuzzy force control of industrial manipulators with position servo drives

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