Abstract
In this paper, a position-based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics.
| Original language | English |
|---|---|
| Title of host publication | International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES |
| Publisher | IEEE |
| Pages | 125-128 |
| Number of pages | 4 |
| Publication status | Published - 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99) - Adelaide, Aust Duration: Aug 31 1999 → Sep 1 1999 |
Other
| Other | Proceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99) |
|---|---|
| City | Adelaide, Aust |
| Period | 8/31/99 → 9/1/99 |
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ASJC Scopus subject areas
- Computer Science(all)
Cite this
Position-based impedance control using a fuzzy compensator. / Nagata, Fusaomi; Watanabe, Keigo; Izumi, Kiyotaka.
International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES. IEEE, 1999. p. 125-128.Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Position-based impedance control using a fuzzy compensator
AU - Nagata, Fusaomi
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 1999
Y1 - 1999
N2 - In this paper, a position-based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics.
AB - In this paper, a position-based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics.
UR - http://www.scopus.com/inward/record.url?scp=0033314852&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033314852&partnerID=8YFLogxK
M3 - Chapter
AN - SCOPUS:0033314852
SP - 125
EP - 128
BT - International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES
PB - IEEE
ER -