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.
|出版ステータス||Published - 1990 12月 1|
|イベント||Proceedings of the 29th SICE Annual Conference - Tokyo, Jpn|
継続期間: 1990 7月 24 → 1990 7月 26
|Other||Proceedings of the 29th SICE Annual Conference|
|Period||90/7/24 → 90/7/26|
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