Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on Implementation of Adaptive Fuzzy Impedance Controller

적응 퍼지 임피던스 제어기의 개발에 관한 연구

  • Lim, Yong-Teak (Dept. of Electrical & Electronic Engineering, Soonchunhyang University) ;
  • Jang, Sung-Min (Dept. of Electrical & Electronic Engineering, Soonchunhyang University) ;
  • Kim, Weung-Woo (Dept. of Electrical & Electronic Engineering, Soonchunhyang University)
  • Published : 2000.07.17
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Abstract

We introduce Adaptive Fuzzy Impedance Controller for force control when robot contact with environment. Because robot and environment was always effected by nonlinear conditions. it needs to deal with parameter's uncertainty. As. it induced Fuzzy system in impedance controller. it used fuzzy inference logic that has robustness about uncertainty to tune impedance controller stiffness gain. We applied adaptive fuzzy impedance controller in One-Link Robot system and the method shows a good performance on desired position and force control with intensional contacting environment.

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