Generalized fuzzy environment models learned with genetic algorithms for a robotic force control

Fusaomi Nagata, Keigo Watanabe, Kazuya Sato, Kiyotaka Izumi

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

Impedance control allows the manipulator to change the mechanical impedance such as inertia, damping and stiffness, acting between the end-effector and its environment. However, to achieve stable force control under unknown stiff environments, complicated tuning of desired impedance parameters is needed. Among the parameters, the desired damping is the most significant to suppress overshoots and oscillations. In this paper, the generalized fuzzy environment models with anisotropy is proposed to systematically determine the desired damping against to unknown environments. The models learned with genetic algorithms, can estimate the each directional stiffness of environment and yield the desired damping, considering the critical damping condition of the control system. Position and force control simulations are shown to demonstrate the effectiveness and promise of the models.

Original languageEnglish
Pages590-596
Number of pages7
Publication statusPublished - Dec 1 1999
Externally publishedYes
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: Oct 17 1999Oct 21 1999

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period10/17/9910/21/99

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Nagata, F., Watanabe, K., Sato, K., & Izumi, K. (1999). Generalized fuzzy environment models learned with genetic algorithms for a robotic force control. 590-596. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .