대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1991년도 하계학술대회 논문집
- /
- Pages.795-798
- /
- 1991
퍼지 PI 알고리즘을 이용한 산업용 로봇의 위치/힘 제어
Position / Force Control of Industrial Robots using the Fuzzy PI Algorithm
-
Suh, Il-Hong
(Dept. of Electronics Eng., Hanyang Univ.)
;
- Hong, Jong-Hyuck (Dept. of Electronics Eng., Hanyang Univ.) ;
-
Oh, Sang-Rok
(Control System Lab, Kist)
;
- Kim, Kwang-Bae (Control System Lab, Kist)
- 발행 : 1991.07.18
초록
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.
키워드