Intelligent position/force controller for industrial robot manipulators - application of fuzzy neural networks

Kazuo Kiguchi; Toshio Fukuda

doi:10.1109/41.649935

Intelligent position/force controller for industrial robot manipulators - application of fuzzy neural networks

Kazuo Kiguchi, Toshio Fukuda

Research output: Contribution to journal › Article › peer-review

71 Citations (Scopus)

Abstract

An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator. The proposed controller deals with the human expert knowledge and skills for planning and control. In this paper, it is applied to the task of deburring with an unknown object. The effectiveness of the proposed controller is evaluated by computer simulations.

Original language	English
Pages (from-to)	753-761
Number of pages	9
Journal	IEEE Transactions on Industrial Electronics
Volume	44
Issue number	6
DOIs	https://doi.org/10.1109/41.649935
Publication status	Published - 1997
Externally published	Yes

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/41.649935

Cite this

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abstract = "An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator. The proposed controller deals with the human expert knowledge and skills for planning and control. In this paper, it is applied to the task of deburring with an unknown object. The effectiveness of the proposed controller is evaluated by computer simulations.",

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AB - An intelligent controller, which consists of an intelligent planner and an adaptive fuzzy neural position/force controller, is proposed for a robot manipulator. The proposed controller deals with the human expert knowledge and skills for planning and control. In this paper, it is applied to the task of deburring with an unknown object. The effectiveness of the proposed controller is evaluated by computer simulations.

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Intelligent position/force controller for industrial robot manipulators - application of fuzzy neural networks

Abstract

All Science Journal Classification (ASJC) codes

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