Position-based impedance control using fuzzy environment models

Fusaomi Nagata, Keigo Watanabe, Kazuya Sato, Kiyotaka Izumi

Research output: Contribution to conferencePaper

6 Citations (Scopus)

Abstract

Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. Recently, a hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.

Original languageEnglish
Pages837-842
Number of pages6
Publication statusPublished - Dec 1 1998
Externally publishedYes
EventProceedings of the 1998 37th SICE Annual Conference - Chiba, Jpn
Duration: Jul 29 1998Jul 31 1998

Other

OtherProceedings of the 1998 37th SICE Annual Conference
CityChiba, Jpn
Period7/29/987/31/98

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Nagata, F., Watanabe, K., Sato, K., & Izumi, K. (1998). Position-based impedance control using fuzzy environment models. 837-842. Paper presented at Proceedings of the 1998 37th SICE Annual Conference, Chiba, Jpn, .