Adaptive Robot Force Control with Position Servos

• Main Authors: Yang, Ruei-Lin, 楊瑞麟
• Other Authors: Lin Yen-Cheng
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/61810867309433208912

碩士 === 大同工學院 === 機械工程學系 === 85 === To do force control with position servos manipulator has problemsfor providing proper input commands for the robot system to exertproper contact force. One is to convert the required forces into motion commands of the end-effector. It is related to the stiffness of robot arm, and the relative stiffness between the robot arm and environments. To solve these problems, we propose an adaptive fuzzy force control system that could learn the environment stiffness based on the robot stiffness model. The experimental results show that for different environments and different poses of the robot arm, the proposed control systemcan achieve the desired behaviors after learning.