ファジィ補償を用いたロボットアームの位置/力の加速度分解制御

抄録

An approach to robot hybrid position/force control, which allows force manipulations to be realized without overshoot and overdamping while in the presence of unknown environment, is given in this paper.
The main idea is to use dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify unknown environment.
The establishment of proposed control system consists of following two stages. First, similar to the resolved acceleration control method, dynamic compensation and PD control based on known robot dynamics, kinematics and estimated environment stiffness is introduced. To avoid overshoot the whole control system is constructed overdamped. In the second stage, the unknown environment stiffness is identified by using fuzzy reasoning, where the fuzzy compensation rules are obtained a priori as the expression of the relationship between environment stiffness and system response.