Two-stage adaptive robot position/force control using fuzzy reasoning and neural networks

Kazuo Kiguchi, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

Many studies have been performed on the position/force control of robot manipulators. Since the desired position and force required to realize certain tasks are usually designated in the operational space, the controller should adapt itself to an environment and generate the control force vector in the operational space. On the other hand, the friction of each joint of a robot manipulator is a serious problem since it impedes control accuracy. Therefore, the friction should be effectively compensated for in order to realize precise control of robot manipulators. Recently, soft computing techniques (fuzzy reasoning, neural networks and genetic algorithms) have been playing an important role in the control of robots. Applying the fuzzy-neuro approach (a combination of fuzzy reasoning and neural networks), learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose a two-stage adaptive robot manipulator position/force control method in which the uncertain/unknown dynamic of the environment is compensated for in the task space and the joint friction is effectively compensated for in the joint space using soft computing techniques. The effectiveness of the proposed control method was evaluated by experiments.

Original languageEnglish
Pages (from-to)153-168
Number of pages16
JournalAdvanced Robotics
Volume14
Issue number3
DOIs
Publication statusPublished - Dec 1 2000
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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