퍼지 보상을 이용한 로봇 매니퓰레이터의 위치/힘제어

Position/Force Control of Robotic Manipulator with Fuzzy Compensation

  • 심귀보 (중앙대학교 제어계측공학과)
  • 발행 : 1995.09.01

초록

An approach to robot hybrid position/force control, which allows force manipulations to be realized without overshoot and overdamping while in the presence of unknown environment, is given in this paper. The manin idea is to used dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify the unknown environment. The establishment of proposed control system consists of following two stages. First, similar to the resovled acceleration control method, dynamic compensation and PD control based on known robot dynamics, kinematics and estimated environment stiffness is introduced. To avoid overshoot the whole control system is constructed with overdamping. In the second stage, the unknown environment stiffness is identified by using fuzzy reasoning, where the fuzzy compensation rules are obtained priori as the expression of the relationship betweenenvironment stiffness and system. Based on the simulation result, comparison between cases with or without fuzzy identifications are given, which illustrate the improvement achieced.

키워드

참고문헌

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