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 |
|---|---|
| Pages | 462-467 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 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 |
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, .