NDLI: Robot manipulator contact force control application of fuzzy-neural network

Content Provider	IEEE Xplore Digital Library
Author	Kiguchi, K. Fukuda, T.
Copyright Year	1995
Description	Author affiliation: Dept. of Ind. & Syst. Eng., Niigata Coll. of Technol., Niigata, Japan (Kiguchi, K.)
Abstract	A lot of researches have been done on fuzzy-neural control, the combination of neural networks control which has a learning ability from experiments and fuzzy control which has an ability of dealing with human knowledge, in order to make up for each other's weak points. In this paper, fuzzy-neural controller is introduced for robot manipulator contact force control to an unknown environment. A robot manipulator controller, which approaches, contacts and applies force to the environment, is designed using fuzzy logic in order to realize human like control and then modeled as a neural network to adjust membership functions and rules in order to achieve desired contact force control. Error between desired force and measured force and momentum of robot manipulator are used as input signals of the controller. Simulation has done using a 3DOF planar robot manipulator to confirm the effectiveness of the controller for the tasks of approach, contact and force control.
Starting Page	875
Ending Page	880
File Size	568029
Page Count	6
File Format	PDF
ISBN	0780319656
ISSN	10504729
DOI	10.1109/ROBOT.1995.525393
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Force control Force measurement Neural networks Humans Fuzzy control Humanoid robots Robot control Fuzzy logic Error correction
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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