제어로봇시스템학회:학술대회논문집
- 1991.10a
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- Pages.588-588
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- 1991
퍼지 적응 제어기를 이용한 컴플라이언스 로보트에 관한 연구
Abstract
This paper proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, we need more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adapitive controllers have difficulty in realtime processing. So in order to overcome it, We adopt fuzzy adaptive controller and propose fuzzy compliance vector generator for flexible compliant motion. We analyze and confirm the proposed algorithm by surface processing experiment with a control system implemented by VME system.
Keywords