Fuzzy compliance robot control

Proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, one needs more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adaptive controllers have difficulty in realtime processing. So in order to overcome it, the authors adopt fuzzy adaptive controller and propose fuzzy compliance vector generator for flexible compliant motion. They analyze and confirm the proposed algorithm by surface processing experiment with a control system implemented by VME system.

Authors

• Seungwoo Kim
• Mignon Park

Keywords

• Fuzzy control
• Robot control
• Error correction
• Adaptive control
• Force control
• Programmable control
• Niobium
• Steady-state
• Fuzzy logic
• Fuzzy systems
• Variety Of Features
• Rule-based
• Real-time Performance
• Step Change
• Membership Function
• Position Error
• Output Error
• Trajectory Planning
• Selection Vector
• Petri Nets
• Arc Welding
• Adaptive Fuzzy Control
• Fuzzy Relation
• Servo Control
• Force Error
• Adaptive Fuzzy