Abstract
In this paper, we propose a new force control method in contact tasks using a fuzzy model. The contact force that is exerted on the environment by the link is some general function of the displacement, and not necessarily linear. First, a new identification method of a fuzzy model is proposed and then a nonlinear function of contact force is modeled by a proposed identification algorithm of a fuzzy model. The system stability for the proposed force control method is proved theoretically using a Lyapunov direct method. Finally it is shown that the proposed method is useful for the force control of manipulator by simulation.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Whitney, D.E.: Historical Perspective And State of The Art in Robot Force Control. In: IEEE Int. Conf. Robotics Autom, St. Louis, MO, pp. 262–268 (1985)
Shoji, Y., Inara, M., Fukuda, T.: Stable force control of 1 degree-of-freedom manipulator in contact tasks. In: IEEE Int. Conf. IROS, Yokohama, Japan, pp. 1511–1515 (1993)
Shoji, Y., Inara, M., Fukuda, T.: Stable force control of multi degree-of-freedom linear manipulator with collision phenomena. In: IEEE Int. Conf. IROS, Osaka, Japan, pp. 1109–1114 (1991)
Dawson, D.M., Lewis, F.L., Dorsey, J.F.: Robust force control of a robot manipulator. Int. J. Robotics Res. 11(4), 312–319 (1992)
Kiguchi, K., Fukuda, T.: Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks. IEEE Trans. Ind. Electron 47(3), 641–649 (2000)
An, C.H., Hollerbach, J.M.: Dynamic stability issues in force control of manipulators. In: IEEE Int. Conf. Robotics Autom, Raleigh, NC, pp. 890–896 (1987)
Kenneth Salisbury, J.: Active Stiffness Control of A Manipulator in Cartesian Coordinates. In: 19th IEEE Conf. Decision and Control, pp. 95–100 (1980)
Takagi, T., Sugeno, M.: Fuzzy Identification of Systems and Its Applications to Modeling and Control. IEEE Trans. Systems, Man and Cybernetics SMC-15(1), 116–132 (1985)
Ballard, D.H.: Generating the Hough Transform to Detect Arbitrary Shapes. Pattern Recognition 13(2), 111–122 (1981)
Bow, S.-T.: Pattern Recognition and Image Preprocessing, Dekker (1992)
Park, C.W., Park, M.: Adaptive parameter estimator based on T-S fuzzy models and its application to indirect adaptive fuzzy control design. An International Journal Information Sciences 159, 125–139 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Park, CW., Lee, J., Park, M., Park, M. (2005). Fuzzy Model Based Environmental Stiffness Identification in Stable Force Control of a Robot Manipulator. In: Torra, V., Narukawa, Y., Miyamoto, S. (eds) Modeling Decisions for Artificial Intelligence. MDAI 2005. Lecture Notes in Computer Science(), vol 3558. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11526018_24
Download citation
DOI: https://doi.org/10.1007/11526018_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-27871-9
Online ISBN: 978-3-540-31883-5
eBook Packages: Computer ScienceComputer Science (R0)