A concept of an intelligent fuzzy control for assembly robot
Апстракт
Active accommodation of robotic manipulator in assembly applications is considered. Mechanical impedance control concept has been chosen for development an intelligent controller for assembly robots, where target impedance appears as a control variable. Basic assumption for successful part mating process according to part mating theory is mechanical isotropy of support system. Consequently, target impedance should be adopted as isotropic. The main problem appearing here is complex analytical formulation of isotropic target impedance and uncertainty of parameters related to the robot and environment model. To overcome this problem an adaptive fuzzy model of isotropic target impedance is proposed. The fuzzy model is incorporated into general impedance control law form, to obtain new fuzzy-impedance control law. Proposed control law has been verified by computer simulation.
Кључне речи:
Robotic assembly / Fuzzy control / ComplianceИзвор:
CIRP Annals - Manufacturing Technology, 1998, 47, 1, 9-12Издавач:
- Hallwag Publishing Ltd
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Petrović, Petar AU - Milačić, Vladimir PY - 1998 UR - https://machinery.mas.bg.ac.rs/handle/123456789/162 AB - Active accommodation of robotic manipulator in assembly applications is considered. Mechanical impedance control concept has been chosen for development an intelligent controller for assembly robots, where target impedance appears as a control variable. Basic assumption for successful part mating process according to part mating theory is mechanical isotropy of support system. Consequently, target impedance should be adopted as isotropic. The main problem appearing here is complex analytical formulation of isotropic target impedance and uncertainty of parameters related to the robot and environment model. To overcome this problem an adaptive fuzzy model of isotropic target impedance is proposed. The fuzzy model is incorporated into general impedance control law form, to obtain new fuzzy-impedance control law. Proposed control law has been verified by computer simulation. PB - Hallwag Publishing Ltd T2 - CIRP Annals - Manufacturing Technology T1 - A concept of an intelligent fuzzy control for assembly robot EP - 12 IS - 1 SP - 9 VL - 47 DO - 10.1016/s0007-8506(07)62774-7 ER -
@article{ author = "Petrović, Petar and Milačić, Vladimir", year = "1998", abstract = "Active accommodation of robotic manipulator in assembly applications is considered. Mechanical impedance control concept has been chosen for development an intelligent controller for assembly robots, where target impedance appears as a control variable. Basic assumption for successful part mating process according to part mating theory is mechanical isotropy of support system. Consequently, target impedance should be adopted as isotropic. The main problem appearing here is complex analytical formulation of isotropic target impedance and uncertainty of parameters related to the robot and environment model. To overcome this problem an adaptive fuzzy model of isotropic target impedance is proposed. The fuzzy model is incorporated into general impedance control law form, to obtain new fuzzy-impedance control law. Proposed control law has been verified by computer simulation.", publisher = "Hallwag Publishing Ltd", journal = "CIRP Annals - Manufacturing Technology", title = "A concept of an intelligent fuzzy control for assembly robot", pages = "12-9", number = "1", volume = "47", doi = "10.1016/s0007-8506(07)62774-7" }
Petrović, P.,& Milačić, V.. (1998). A concept of an intelligent fuzzy control for assembly robot. in CIRP Annals - Manufacturing Technology Hallwag Publishing Ltd., 47(1), 9-12. https://doi.org/10.1016/s0007-8506(07)62774-7
Petrović P, Milačić V. A concept of an intelligent fuzzy control for assembly robot. in CIRP Annals - Manufacturing Technology. 1998;47(1):9-12. doi:10.1016/s0007-8506(07)62774-7 .
Petrović, Petar, Milačić, Vladimir, "A concept of an intelligent fuzzy control for assembly robot" in CIRP Annals - Manufacturing Technology, 47, no. 1 (1998):9-12, https://doi.org/10.1016/s0007-8506(07)62774-7 . .