Paper Info
Title
Fuzzy model based environmental stiffness identification in stable force control of a robot manipulator
Abstract
In this paper, we propose a new force control method in contact tasks using a fuzzy model. The contact force that is exerted on the environment by the link is some general function of the displacement, and not necessarily linear. First, a new identification method of a fuzzy model is proposed and then a nonlinear function of contact force is modeled by a proposed identification algorithm of a fuzzy model. The system stability for the proposed force control method is proved theoretically using a Lyapunov direct method. Finally it is shown that the proposed method is useful for the force control of manipulator by simulation.
Year
DOI
Venue
2005
10.1007/11526018_24
MDAI
Keywords
Field
DocType
fuzzy model,contact task,environmental stiffness identification,force control,stable force control,new force control method,proposed identification algorithm,new identification method,contact force,lyapunov direct method,robot manipulator,proposed force control method,generating function,direct method
Direct method,Nonlinear system,Control theory,Computer science,Stiffness,Fuzzy logic,Model-based reasoning,Contact force,Artificial intelligence,System identification,Robotics
Conference
Volume
ISSN
ISBN
3558
0302-9743
3-540-27871-0
Citations 
PageRank 
References 
0
0.34
8
Authors
4
Name
Order
Citations
PageRank
Chang-Woo Park117421.54
Jong-Bae Lee262.97
Minkee Park337525.10
Mignon Park475970.43