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Adaptive and nonlinear fuzzy force control techniques applied to robots operating in uncertain environments

Lookup NU author(s): Dr Kevin Burn, Dr Bob Bicker

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Abstract

For robots to perform many complex tasks there is a need for robust and stable force control. Linear, fixed-gain controllers can only provide adequate performance when they are tuned to specific task requirements, but if the environmental stiffness at the robot/task interface is unknown and varies significantly, performance is degraded. This paper describes the design of two nonlinear, fuzzy force controllers, developed primarily using analytical methods, which overcome the problems of conventional control. Using simulation and an experimental robot, they are shown to perform well over a wide range of stiffness and both a quantitative and qualitative assessment of their performance compared with conventional force control is presented. © 2003 Wiley Periodicals, Inc.

Publication metadata

Author(s): Burn K, Short M, Bicker R

Publication type: Article

Publication status: Published

Journal: Journal of Robotic Systems

Year: 2003

Volume: 20

Issue: 7

Pages: 391-400

Print publication date: 01/07/2003

ISSN (print): 0741-2223

ISSN (electronic): 1556-4967

Publisher: Wiley-Blackwell Publishing

URL: http://dx.doi.org/10.1002/rob.10093

DOI: 10.1002/rob.10093

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