Position-Based Fuzzy Force Control for Dual Industrial Robots

Authors:
Shih-Tin Lin;Ang-Kiong Huang
Affiliations:
Department of Mechanical Engineering, National Chung-Hsing University, Taichung, Taiwan e-mail: stlin@me.nchu.edu.tw;Department of Mechanical Engineering, National Chung-Hsing University, Taichung, Taiwan e-mail: stlin@me.nchu.edu.tw
Venue:
Journal of Intelligent and Robotic Systems
Year:
1997

Citing 4
Cited 2

A self-tuning fuzzy controller

Fuzzy Sets and Systems
Motion and force control of coordinated robots during constrained motion tasks

International Journal of Robotics Research
Adaptive Control

Adaptive Control
Scaling of fuzzy controllers using the cross-correlation

IEEE Transactions on Fuzzy Systems

Neural Network Force Control for Industrial Robots

Journal of Intelligent and Robotic Systems
Force Control of Robotic Manipulators Using a Fuzzy Predictive Approach

Journal of Intelligent and Robotic Systems

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Abstract

In this paper, a fuzzy force control framework is proposed for dual-industrial robot systems. The master/slave control method is used in dual-robot systems. Two MITSUBISHI MELFA RV-M1 industrial robots, one is equipped with an BL Force/Torque sensor and the other is not, are utilized for implementing the dual-arm system. In order to adapt various stiffness of the holding object, an adaptable fuzzy force control scheme has been proposed to improve the performance. The ability of the adaptable force control system is achieved by tuning the scaling factor of the fuzzy logic controller. Successful experiments are carried out for the dual-robot system handling an object.