Position / Force Control of Industrial Robots using the Fuzzy PI Algorithm

퍼지 PI 알고리즘을 이용한 산업용 로봇의 위치/힘 제어

The hybrid positon/force control is required when two or more robots perform a coorperative task in a uncertain environment, or when single robot does a task with a constant force to the environment. In this paper, a new control algorithm which control simultaneously the position and the force are proposed, however, especially the conventional position controller employed in the present robot control is used. Moreover, in order to improve the output response characteristics of the system, the PI gains which were computed from the PI gain tunning techniques, are varied based on the results of the Fuzzy algorithm.