A unified approach to position and force control by fuzzy logic

IEEE Transactions on Industrial Electronics

Volumn 43, Issue 1, 1996, Pages 81-87

  Shibata, Masaaki ^a   Murakami, Toshiyuki ^a   Ohnishi, Kouhei ^a  

^a KEIO UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; FORCE CONTROL; MANIPULATORS; PARAMETER ESTIMATION; POSITION CONTROL; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); STIFFNESS;

DIRECT DRIVE ROBOT; DISTURBANCE OBSERVER; FORCE TRACKING CONTROL; ROBUST IMPEDANCE CONTROLLER; UNIFIED CONTROL STRATEGY;

FUZZY SETS;

EID: 0030081471     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/41.481411     Document Type: Article

References (5)

1. M. Brady et al.. Robot Motion. Cambridge, MA: MIT Press, 1981.
2. T. Yoshikawa et al., "Dynamic hybrid position/force control of robot manipulators-Controller design and experiments," IEEE J. Robot., Automat., vol. 4, no. 6, pp. 699-705, 1988.
3. K. Ohnishi et al., "Applications of advanced control techniques in electrical drives," IEEE Workshop Microcomputer Contr. Elec. Drives (Al), 1989, pp. 1-24.
4. H. Seraji et al., "Force tracking in impedance control," IEEE Conf. Robot., Automat., 1993, pp. 499-506.
5. T. Murakami et al., "Observer-based adaptive force control of multidegrees-of-freedom manipulator," in IEEE. Proc. IECON '92, 1992, pp. 1500-1505