An adaptive force control based on input classification

Yoshimitsu Umahashi; Yutaka Uchimura; Kouhei Ohnishi

An adaptive force control based on input classification

Yoshimitsu Umahashi, Yutaka Uchimura, Kouhei Ohnishi

Research output: Contribution to conference › Paper › peer-review

Abstract

An adaptive force control based on the fuzzy theory is described. In the proposed control method, a fuzzy set is applied to the acceleration controller which is obtained by the disturbance observer. This force controller is robust against the parameter variation of not only the robot dynamics, but also the environment in which the robot acts. The asymptotic stability of the controller is proved by using a Lyapunov function. The condition under which the overshoot of the force response is avoided is derived. The experimental results are shown to verify the validity of the proposed method.

Original language	English
Pages	869-872
Number of pages	4
Publication status	Published - 1990 Dec 1
Externally published	Yes
Event	Proceedings of the 29th SICE Annual Conference - Tokyo, Jpn Duration: 1990 Jul 24 → 1990 Jul 26

Other

Other	Proceedings of the 29th SICE Annual Conference
City	Tokyo, Jpn
Period	90/7/24 → 90/7/26

ASJC Scopus subject areas

Engineering(all)

Cite this

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title = "An adaptive force control based on input classification",

abstract = "An adaptive force control based on the fuzzy theory is described. In the proposed control method, a fuzzy set is applied to the acceleration controller which is obtained by the disturbance observer. This force controller is robust against the parameter variation of not only the robot dynamics, but also the environment in which the robot acts. The asymptotic stability of the controller is proved by using a Lyapunov function. The condition under which the overshoot of the force response is avoided is derived. The experimental results are shown to verify the validity of the proposed method.",

author = "Yoshimitsu Umahashi and Yutaka Uchimura and Kouhei Ohnishi",

year = "1990",

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language = "English",

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T1 - An adaptive force control based on input classification

AU - Umahashi, Yoshimitsu

AU - Uchimura, Yutaka

AU - Ohnishi, Kouhei

PY - 1990/12/1

Y1 - 1990/12/1

N2 - An adaptive force control based on the fuzzy theory is described. In the proposed control method, a fuzzy set is applied to the acceleration controller which is obtained by the disturbance observer. This force controller is robust against the parameter variation of not only the robot dynamics, but also the environment in which the robot acts. The asymptotic stability of the controller is proved by using a Lyapunov function. The condition under which the overshoot of the force response is avoided is derived. The experimental results are shown to verify the validity of the proposed method.

AB - An adaptive force control based on the fuzzy theory is described. In the proposed control method, a fuzzy set is applied to the acceleration controller which is obtained by the disturbance observer. This force controller is robust against the parameter variation of not only the robot dynamics, but also the environment in which the robot acts. The asymptotic stability of the controller is proved by using a Lyapunov function. The condition under which the overshoot of the force response is avoided is derived. The experimental results are shown to verify the validity of the proposed method.

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M3 - Paper

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T2 - Proceedings of the 29th SICE Annual Conference

Y2 - 24 July 1990 through 26 July 1990

ER -

An adaptive force control based on input classification

Abstract

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ASJC Scopus subject areas

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