Position-based impedance control using a fuzzy compensator

In this paper, a position-based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics.

• Type: Conference
• Year: 1999
• Where: KES
• Authors: Fusaomi Nagata, Keigo Watanabe, Kiyotaka Izumi
• Keywords: Force Control, Fuzzy Compensator, Information Management, KES 1999, Unknown Dynamic