التفاصيل البيبلوغرافية
| العنوان: |
A self-tuning fuzzy robotic force controller |
| المؤلفون: |
Bicker R, Hu ZX, Burn K |
| المصدر: |
14th Symposium on Theory and Practice of Robots and Manipulators, 1-4 July 2002 |
| بيانات النشر: |
Springer |
| سنة النشر: |
2002 |
| المجموعة: |
Newcastle University Library ePrints Service |
| الوصف: |
Most industrial robots are controlled as position servo-based manipulators. This has made most advanced force control algorithms unpractical and difficult to implement. In this paper a position based fuzzy PID force controller is proposed to regulate contact force of a six degree of freedom industrial robot where the environment contact stiffness varies considerably. Based on a relationship between fuzzy PID and conventional PID control laws and the application of a simple fuzzy self-tuning method, the controller is tuned and satisfying experimental results have been obtained to validate its efficiency. |
| نوع الوثيقة: |
conference object |
| اللغة: |
unknown |
| Relation: |
https://eprints.ncl.ac.uk/180979 |
| الاتاحة: |
https://eprints.ncl.ac.uk/180979 |
| رقم الانضمام: |
edsbas.D6D2C2E6 |
| قاعدة البيانات: |
BASE |