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

K. Izumi, Keigo Watanabe, T. Hirao

Research output: Chapter in Book/Report/Conference proceedingChapter

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
Title of host publicationInternational Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES
PublisherIEEE
Pages462-467
Number of pages6
Volume3
Publication statusPublished - 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

Fingerprint

Motion control
Manipulators
Torque
Industrial manipulators
Sensors
Experiments

ASJC Scopus subject areas

  • Computer Science(all)

Cite this

Izumi, K., Watanabe, K., & Hirao, T. (1998). Coordinative motion control for different kind of manipulators using a fuzzy compensator. In International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES (Vol. 3, pp. 462-467). IEEE.

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 proceedingChapter

Izumi, K, Watanabe, K & Hirao, T 1998, Coordinative motion control for different kind of manipulators using a fuzzy compensator. in International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. vol. 3, IEEE, pp. 462-467, Proceedings of the 1998 2nd International Conference on knowledge-Based Intelligent Electronic Systems (KES '98), Adelaide, Aust, 4/21/98.
Izumi K, Watanabe K, Hirao T. Coordinative motion control for different kind of manipulators using a fuzzy compensator. In International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. Vol. 3. IEEE. 1998. p. 462-467
Izumi, K. ; Watanabe, Keigo ; Hirao, T. / Coordinative motion control for different kind of manipulators using a fuzzy compensator. International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. Vol. 3 IEEE, 1998. pp. 462-467
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