Joystick teaching system for polishing robots using fuzzy compliance control

Fusaomi Nagata; Keigo Watanabe; Kazuo Kiguchi; Kunihiro Tsuda; Syuji Kawaguchi; Yuji Nodav; Masaki Komino

doi:10.1109/CIRA.2001.1013226

Joystick teaching system for polishing robots using fuzzy compliance control

Fusaomi Nagata, Keigo Watanabe, Kazuo Kiguchi, Kunihiro Tsuda, Syuji Kawaguchi, Yuji Nodav, Masaki Komino

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

In this paper, a joystick teaching system using a fuzzy compliance control is presented for polishing robots. The joystick is regarded as a virtual spring-damper system, so that the joystick's compliance in operation can be easily adjusted according to the friction force acting between the polishing tool and the workpiece. In conventional compliance control, both the damping coefficient and the stiffness coefficient are generally selected to be suitable for each task by trial and error. Our proposed method described suitably generates the component of stiffness by a simple fuzzy reasoning method. The effectiveness of the proposed system has been examined by some teaching experiments using an industrial robot FS-20 with a PC based controller.

Original language	English
Title of host publication	Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publication	Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
Editors	Hong Zhang, Peter Xiaoping Liu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	362-367
Number of pages	6
ISBN (Electronic)	0780372034
DOIs	https://doi.org/10.1109/CIRA.2001.1013226
Publication status	Published - Jan 1 2001
Externally published	Yes
Event	IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada Duration: Jul 29 2001 → Aug 1 2001

Publication series

Name	Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume	2001-January

Other

Other	IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
Country	Canada
City	Banff
Period	7/29/01 → 8/1/01

ASJC Scopus subject areas

Computational Mathematics

Access to Document

10.1109/CIRA.2001.1013226

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Cite this

Nagata, F., Watanabe, K., Kiguchi, K., Tsuda, K., Kawaguchi, S., Nodav, Y., & Komino, M. (2001). Joystick teaching system for polishing robots using fuzzy compliance control. In H. Zhang, & P. X. Liu (Eds.), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001 (pp. 362-367). [1013226] (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2001.1013226

Joystick teaching system for polishing robots using fuzzy compliance control. / Nagata, Fusaomi; Watanabe, Keigo; Kiguchi, Kazuo; Tsuda, Kunihiro; Kawaguchi, Syuji; Nodav, Yuji; Komino, Masaki.

Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. ed. / Hong Zhang; Peter Xiaoping Liu. Institute of Electrical and Electronics Engineers Inc., 2001. p. 362-367 1013226 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nagata, F, Watanabe, K, Kiguchi, K, Tsuda, K, Kawaguchi, S, Nodav, Y & Komino, M 2001, Joystick teaching system for polishing robots using fuzzy compliance control. in H Zhang & PX Liu (eds), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001., 1013226, Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, vol. 2001-January, Institute of Electrical and Electronics Engineers Inc., pp. 362-367, IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001, Banff, Canada, 7/29/01. https://doi.org/10.1109/CIRA.2001.1013226

Nagata F, Watanabe K, Kiguchi K, Tsuda K, Kawaguchi S, Nodav Y et al. Joystick teaching system for polishing robots using fuzzy compliance control. In Zhang H, Liu PX, editors, Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. Institute of Electrical and Electronics Engineers Inc. 2001. p. 362-367. 1013226. (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA). https://doi.org/10.1109/CIRA.2001.1013226

Nagata, Fusaomi ; Watanabe, Keigo ; Kiguchi, Kazuo ; Tsuda, Kunihiro ; Kawaguchi, Syuji ; Nodav, Yuji ; Komino, Masaki. / Joystick teaching system for polishing robots using fuzzy compliance control. Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. editor / Hong Zhang ; Peter Xiaoping Liu. Institute of Electrical and Electronics Engineers Inc., 2001. pp. 362-367 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA).

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