Position-based impedance control using a fuzzy compensator

Fusaomi Nagata, Keigo Watanabe, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingChapter

9 Citations (Scopus)

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 languageEnglish
Title of host publicationInternational Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES
PublisherIEEE
Pages125-128
Number of pages4
Publication statusPublished - 1999
Externally publishedYes
EventProceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99) - Adelaide, Aust
Duration: Aug 31 1999Sep 1 1999

Other

OtherProceedings of the 1999 3rd International Conference on Knowledge-Based Intelligent Information Engineering Systems (KES '99)
CityAdelaide, Aust
Period8/31/999/1/99

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ASJC Scopus subject areas

  • Computer Science(all)

Cite this

Nagata, F., Watanabe, K., & Izumi, K. (1999). Position-based impedance control using a fuzzy compensator. In International Conference on Knowledge-Based Intelligent Electronic Systems, Proceedings, KES (pp. 125-128). IEEE.