An adaptive force control based on input classification

Yoshimitsu Umahashi, Yutaka Uchimura, Kouhei Ohnishi

研究成果: Paper

抜粋

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.

元の言語English
ページ869-872
ページ数4
出版物ステータスPublished - 1990 12 1
外部発表Yes
イベントProceedings of the 29th SICE Annual Conference - Tokyo, Jpn
継続期間: 1990 7 241990 7 26

Other

OtherProceedings of the 29th SICE Annual Conference
Tokyo, Jpn
期間90/7/2490/7/26

ASJC Scopus subject areas

  • Engineering(all)

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  • これを引用

    Umahashi, Y., Uchimura, Y., & Ohnishi, K. (1990). An adaptive force control based on input classification. 869-872. 論文発表場所 Proceedings of the 29th SICE Annual Conference, Tokyo, Jpn, .