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 |
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| Title of host publication | Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 362-367 |
| Number of pages | 6 |
| Volume | 2001-January |
| ISBN (Print) | 0780372034 |
| DOIs | |
| Publication status | Published - 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 |
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 |
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ASJC Scopus subject areas
- Computational Mathematics