Skip to main content
padlock icon - secure page this page is secure

Contact Force Control Between Robotic End-Effector and Environmrnt

Buy Article:

$107.07 + tax (Refund Policy)

For the advanced robot assembly and coordination cooperation application, the robot end-effector motion trajectory accuracy and appropriate contact force against the environment are two important factors during desired impedance operation. Hence, a generalized hybrid control strategy need be developed for monitoring the motion control error and an interaction force command in the task space, simultaneously, such that the end-effector contact force can be commanded and controlled. Here, the model-free intelligent self-organizing fuzzy controller (SOFC) is introduced to design force and position controllers, respectively for hybrid impedance control purpose. It has on-line learning mechanism for sustaining the working condition change. Force sensor is installed in Mitsubishi robot end-effector to measure the dynamic contact force during compliant operations. The experimental results show that the proposed hybrid self-organizing fuzzy control system can effectively monitor this kind of dynamic operations.
No Reference information available - sign in for access.
No Citation information available - sign in for access.
No Supplementary Data.
No Article Media
No Metrics

Document Type: Research Article

Publication date: August 1, 2012

More about this publication?
  • ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
  • Editorial Board
  • Information for Authors
  • Subscribe to this Title
  • Ingenta Connect is not responsible for the content or availability of external websites
  • Access Key
  • Free content
  • Partial Free content
  • New content
  • Open access content
  • Partial Open access content
  • Subscribed content
  • Partial Subscribed content
  • Free trial content
Cookie Policy
X
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more