Toggle Main Menu Toggle Search

Open Access padlockePrints

The Newcastle University research output collection, currently available on ePrints, will shortly be moving to a new open repository platform, Figshare. To prepare for the data migration we have paused adding new content to ePrints, and will resume once the new repository is launched. During this time you will continue to have access to ePrints (but no new content will appear). We will share updates here when available.

A software tool for automating the design of robot fuzzy force controllers

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

Downloads

Abstract

This paper describes a software tool to automate a design method for robotic fuzzy force control. The original method was developed to ensure robust and stable force control in situations where environmental stiffness at the robot/task interface is unknown, obviating the use of fixed-gain controllers. It did, however, involve a manual design process requiring significant knowledge of control theory and fuzzy logic. This process has been automated in the form of a Windows-based application, requiring minimal user inputs and incorporating an automatic tuning technique for improved performance in the final controller application. Results obtained from an experimental robot are presented. © 2005 Cambridge University Press.

Publication metadata

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

Publication type: Article

Publication status: Published

Journal: Robotica

Year: 2005

Volume: 23

Issue: 2

Pages: 247-256

ISSN (print): 0263-5747

ISSN (electronic): 1469-8668

Publisher: Cambridge University Press

URL: http://dx.doi.org/10.1017/S0263574704000785

DOI: 10.1017/S0263574704000785

Altmetrics

Altmetrics provided by Altmetric

Share