Fuzzy adaptive control design for compliant motion of a manipulator

Kai-Tai Song*, Hsi Pin Li

*Corresponding author for this work

Research output: Contribution to conferencePaper

2 Scopus citations

Abstract

A fuzzy adaptive force controller is designed and integrated with the existing motion control system of a manipulator. This controller works in parallel with the robot controller by calculating the position corrections which allow contact force to be controlled in the desired manner. Fuzzy PI control scheme is used in the force controller design. This intelligent control system features an adaptive feedforward compensation to cope with the variations in the contact environment. Practical implementation has been carried out by integrating a 6D force/torque sensor to an ABB IRB2000 industrial robot. The force controller itself is realized in an PC-AT/486 which has signal interfaces to the robot as well as the force/torque sensor. Some simulation as well as experimental results are presented in this paper.

Original languageEnglish
Pages703-707
Number of pages5
StatePublished - 1 Dec 1994
EventProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy
Duration: 5 Sep 19949 Sep 1994

Conference

ConferenceProceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
CityBologna, Italy
Period5/09/949/09/94

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    Song, K-T., & Li, H. P. (1994). Fuzzy adaptive control design for compliant motion of a manipulator. 703-707. Paper presented at Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, .