Intelligent position/force controller for industrial robot manipulators-application of fuzzy neural networks

An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator. The proposed controller deals with the human expert knowledge and skills for planning and control. In this paper, it is applied to the task...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 1997-12, Vol.44 (6), p.753-761
Main Authors: Kiguchi, K., Fukuda, T.
Format: Article
Language:English
Subjects:
Adaptive control
Force control
Fuzzy control
Humans
Industrial control
Intelligent robots
Manipulators
Programmable control
Robot control
Service robots
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Summary:An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator. The proposed controller deals with the human expert knowledge and skills for planning and control. In this paper, it is applied to the task of deburring with an unknown object. The effectiveness of the proposed controller is evaluated by computer simulations.
ISSN:0278-0046
1557-9948
DOI:10.1109/41.649935