Coordinative motion control for different kind of manipulators using a fuzzy compensator

K. Izumi, K. Watanabe, T. Hirao

Research output: Contribution to conferencePaper

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 languageEnglish
Pages462-467
Number of pages6
Publication statusPublished - Dec 1 1998
Externally publishedYes
EventProceedings of the 1998 2nd International Conference on knowledge-Based Intelligent Electronic Systems (KES '98) - Adelaide, Aust
Duration: Apr 21 1998Apr 23 1998

Other

OtherProceedings of the 1998 2nd International Conference on knowledge-Based Intelligent Electronic Systems (KES '98)
CityAdelaide, Aust
Period4/21/984/23/98

ASJC Scopus subject areas

  • Computer Science(all)

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    Izumi, K., Watanabe, K., & Hirao, T. (1998). Coordinative motion control for different kind of manipulators using a fuzzy compensator. 462-467. Paper presented at Proceedings of the 1998 2nd International Conference on knowledge-Based Intelligent Electronic Systems (KES '98), Adelaide, Aust, .