대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
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- Pages.2819-2821
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- 2000
적응 퍼지 임피던스 제어기의 개발에 관한 연구
A Study on Implementation of Adaptive Fuzzy Impedance Controller
- 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)
- 발행 : 2000.07.17
초록
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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