An adaptive force control based on input classification

Yoshimitsu Umahashi, Yutaka Uchimura, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An adaptive force control based on the fuzzy theory is described. In the proposed control method, a fuzzy set is applied to the acceleration controller which is obtained by the disturbance observer. This force controller is robust against the parameter variation of not only the robot dynamics, but also the environment in which the robot acts. The asymptotic stability of the controller is proved by using a Lyapunov function. The condition under which the overshoot of the force response is avoided is derived. The experimental results are shown to verify the validity of the proposed method.

Original languageEnglish
Title of host publicationSICE '90. Proceedings of the 29th SICE Annual Conference--Volume II
Place of PublicationPiscataway, NJ, United States
PublisherPubl by IEEE
Pages869-872
Number of pages4
Publication statusPublished - 1990
Externally publishedYes
EventProceedings of the 29th SICE Annual Conference - Tokyo, Jpn
Duration: 1990 Jul 241990 Jul 26

Other

OtherProceedings of the 29th SICE Annual Conference
CityTokyo, Jpn
Period90/7/2490/7/26

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Umahashi, Y., Uchimura, Y., & Ohnishi, K. (1990). An adaptive force control based on input classification. In SICE '90. Proceedings of the 29th SICE Annual Conference--Volume II (pp. 869-872). Piscataway, NJ, United States: Publ by IEEE.