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Lookup NU author(s): Dr Kevin Burn, Dr Bob Bicker
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. © 2005 Cambridge University Press.
Author(s): Burn K, Home G, Short M, Bicker R
Publication type: Article
Publication status: Published
Journal: Robotica
Year: 2005
Volume: 23
Issue: 2
Pages: 247-256
ISSN (print): 0263-5747
ISSN (electronic): 1469-8668
Publisher: Cambridge University Press
URL: http://dx.doi.org/10.1017/S0263574704000785
DOI: 10.1017/S0263574704000785
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