Fuzzy adaptive control design for compliant motion of a manipulator

Kai-Tai Song; Hsi Pin Li

doi:10.1109/IECON.1994.397870

Fuzzy adaptive control design for compliant motion of a manipulator

Kai-Tai Song^*, Hsi Pin Li

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Contribution to conference › Paper › peer-review

2 Scopus citations

Abstract

A fuzzy adaptive force controller is designed and integrated with the existing motion control system of a manipulator. This controller works in parallel with the robot controller by calculating the position corrections which allow contact force to be controlled in the desired manner. Fuzzy PI control scheme is used in the force controller design. This intelligent control system features an adaptive feedforward compensation to cope with the variations in the contact environment. Practical implementation has been carried out by integrating a 6D force/torque sensor to an ABB IRB2000 industrial robot. The force controller itself is realized in an PC-AT/486 which has signal interfaces to the robot as well as the force/torque sensor. Some simulation as well as experimental results are presented in this paper.

Original language	English
Pages	703-707
Number of pages	5
DOIs	https://doi.org/10.1109/IECON.1994.397870
State	Published - 5 Sep 1994
Event	Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy Duration: 5 Sep 1994 → 9 Sep 1994

Conference

Conference	Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
City	Bologna, Italy
Period	5/09/94 → 9/09/94

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10.1109/IECON.1994.397870

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AB - A fuzzy adaptive force controller is designed and integrated with the existing motion control system of a manipulator. This controller works in parallel with the robot controller by calculating the position corrections which allow contact force to be controlled in the desired manner. Fuzzy PI control scheme is used in the force controller design. This intelligent control system features an adaptive feedforward compensation to cope with the variations in the contact environment. Practical implementation has been carried out by integrating a 6D force/torque sensor to an ABB IRB2000 industrial robot. The force controller itself is realized in an PC-AT/486 which has signal interfaces to the robot as well as the force/torque sensor. Some simulation as well as experimental results are presented in this paper.

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Fuzzy adaptive control design for compliant motion of a manipulator

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