Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/67929
標題: Hierarchical fuzzy force control for industrial robots
作者: Lin, S.T.
Huang, A.K.
關鍵字: force control
fuzzy control
intelligent control
intelligent robots
neural-network compensator
manipulators
uncertainties
期刊/報告no:: Ieee Transactions on Industrial Electronics, Volume 45, Issue 4, Page(s) 646-653.
摘要: In this paper, we present a hierarchical force control framework consisting of a high-level control system based on fuzzy logic and the existing motion control system of a manipulator in the low level, In order to adapt various contact conditions, an adaptable fuzzy force control scheme has been proposed to improve the performance. The ability of the adaptable force control system is achieved by tuning the scaling factor of the fuzzy logic controller (FLC), A Mitsubishi MELFA RV-M1 industrial robot equipped with a BL Force/Torque sensor is utilized for implementing the hierarchical fuzzy force control system, Successful experiments for various contact motions are carried out. Additionally, discussion of a peg-in-hole insertion is presented, and the experimental results are given.
URI: http://hdl.handle.net/11455/67929
ISSN: 0278-0046
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