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

Authors:
K. Burn;G. Home;M. Short;R. Bicker
Affiliations:
Centre for Hybrid Intelligent Systems, School of Computing and Technology, University of Sunderland, Sunderland (UK). E-mail: kevin.burn@sunderland.ac.uk;Centre for Hybrid Intelligent Systems, School of Computing and Technology, University of Sunderland, Sunderland (UK). E-mail: kevin.burn@sunderland.ac.uk;Embedded Systems Laboratory, University of Leicester (UK).;School of Mechanical and Systems Engineering, University of Newcastle upon Tyne (UK).
Venue:
Robotica
Year:
2005

Citing 4
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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.