Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator
Abstract
Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace.
Keywords:
mechanical isotropy / manipulating robots / impedance control / fuzzy setsSource:
Journal of Intelligent Manufacturing, 1998, 9, 4, 369-375Publisher:
- Kluwer Academic Publ, Dordrecht
DOI: 10.1023/A:1008987011755
ISSN: 0956-5515
WoS: 000076905000013
Scopus: 2-s2.0-2442609795
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Institution/Community
Mašinski fakultetTY - JOUR AU - Petrović, Petar AU - Milačić, Vladimir PY - 1998 UR - https://machinery.mas.bg.ac.rs/handle/123456789/166 AB - Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace. PB - Kluwer Academic Publ, Dordrecht T2 - Journal of Intelligent Manufacturing T1 - Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator EP - 375 IS - 4 SP - 369 VL - 9 DO - 10.1023/A:1008987011755 ER -
@article{ author = "Petrović, Petar and Milačić, Vladimir", year = "1998", abstract = "Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applications, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipulator. According to simulation results, the proposed control law can provide approximately isotropic behaviour of the robot end-point in the whole workspace.", publisher = "Kluwer Academic Publ, Dordrecht", journal = "Journal of Intelligent Manufacturing", title = "Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator", pages = "375-369", number = "4", volume = "9", doi = "10.1023/A:1008987011755" }
Petrović, P.,& Milačić, V.. (1998). Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator. in Journal of Intelligent Manufacturing Kluwer Academic Publ, Dordrecht., 9(4), 369-375. https://doi.org/10.1023/A:1008987011755
Petrović P, Milačić V. Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator. in Journal of Intelligent Manufacturing. 1998;9(4):369-375. doi:10.1023/A:1008987011755 .
Petrović, Petar, Milačić, Vladimir, "Adaptive fuzzy control of mechanical behavior for a two degree of freedom robotic manipulator" in Journal of Intelligent Manufacturing, 9, no. 4 (1998):369-375, https://doi.org/10.1023/A:1008987011755 . .