714 接触作業時のロボットマニピュレータと未知環境間の摩擦補償(制御・ロボティクス・メカトロニクスIII)

概要

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This paper presents an effective intelligent control policy for position/force control of a robot manipulator in an unknown environment based on hybrid control using fuzzy-neural techniques. In the proposed force control policy, suitable fuzzy-neuro force control controllers are selected immediately among the initially prepared multiple fuzzy-neuro force controllers for various kinds of environments, and harmonized with a proper ratio using fuzzy reasoning according to the dynamic properties of the unknown environment. In the proposed position control policy, adaptive fuzzy friction models are applied to compensate for friction between a robot manipulator end-effector and the environment effectively.
一般社団法人日本機械学会の論文
2000-03-13