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Controller Design for Industrial Robots and Machine Tools by K Watanabe, F Nagata

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2

Preliminary simulation of intelligent force control

Abstract:

In this chapter, simulations of an impedance model following force control using generalized learning-based fuzzy environment model (GFEM) are presented for articulated industrial robots with an open-architecture controller. The desired damping, which is one of the impedance parameters, has a substantial effect on force control performance, so that an important point for successfully using the force controller is how to suitably tune the desired damping according to each environment and task. We introduce an approach that produces the desired time-varying damping, giving the critical damping condition in contact with an object. However, the approach requires that the physical parameters ...

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