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 proceedingConference contribution

13 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 languageEnglish
Title of host publicationProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages362-367
Number of pages6
Volume2001-January
ISBN (Print)0780372034
DOIs
Publication statusPublished - 2001
Externally publishedYes
EventIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada
Duration: Jul 29 2001Aug 1 2001

Other

OtherIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
CountryCanada
CityBanff
Period7/29/018/1/01

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ASJC Scopus subject areas

  • Computational Mathematics

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 Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA (Vol. 2001-January, pp. 362-367). [1013226] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2001.1013226