Abstract
In this paper, we describe a coordinative motion control based on the master/slave method for different kind of manipulators. The master side consists of pantagraph-type two link manipulator driven by a torque command, whereas the slave side is an industrial manipulator driven by a position command with a force/torque sensor. It is difficult to maintain a desired contact force by only master/slave method. To maintain a desired contact force, a compensative position command is generated by using a fuzzy reasoning with the force sensor information. The effectiveness is verified by experiments.
| Original language | English |
|---|---|
| Title of host publication | International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES |
| Publisher | IEEE |
| Pages | 462-467 |
| Number of pages | 6 |
| Volume | 3 |
| Publication status | Published - 1998 |
| Externally published | Yes |
| Event | Proceedings of the 1998 2nd International Conference on knowledge-Based Intelligent Electronic Systems (KES '98) - Adelaide, Aust Duration: Apr 21 1998 → Apr 23 1998 |
Other
| Other | Proceedings of the 1998 2nd International Conference on knowledge-Based Intelligent Electronic Systems (KES '98) |
|---|---|
| City | Adelaide, Aust |
| Period | 4/21/98 → 4/23/98 |
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ASJC Scopus subject areas
- Computer Science(all)
Cite this
Coordinative motion control for different kind of manipulators using a fuzzy compensator. / Izumi, K.; Watanabe, Keigo; Hirao, T.
International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. Vol. 3 IEEE, 1998. p. 462-467.Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Coordinative motion control for different kind of manipulators using a fuzzy compensator
AU - Izumi, K.
AU - Watanabe, Keigo
AU - Hirao, T.
PY - 1998
Y1 - 1998
N2 - In this paper, we describe a coordinative motion control based on the master/slave method for different kind of manipulators. The master side consists of pantagraph-type two link manipulator driven by a torque command, whereas the slave side is an industrial manipulator driven by a position command with a force/torque sensor. It is difficult to maintain a desired contact force by only master/slave method. To maintain a desired contact force, a compensative position command is generated by using a fuzzy reasoning with the force sensor information. The effectiveness is verified by experiments.
AB - In this paper, we describe a coordinative motion control based on the master/slave method for different kind of manipulators. The master side consists of pantagraph-type two link manipulator driven by a torque command, whereas the slave side is an industrial manipulator driven by a position command with a force/torque sensor. It is difficult to maintain a desired contact force by only master/slave method. To maintain a desired contact force, a compensative position command is generated by using a fuzzy reasoning with the force sensor information. The effectiveness is verified by experiments.
UR - http://www.scopus.com/inward/record.url?scp=0032218867&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0032218867&partnerID=8YFLogxK
M3 - Chapter
AN - SCOPUS:0032218867
VL - 3
SP - 462
EP - 467
BT - International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES
PB - IEEE
ER -