An optimal fuzzy-PI force/motion controller to increase industrial robot autonomy

被引：21

作者：

Mendes, Nuno ^{[1
]}

Neto, Pedro ^{[1
]}

Norberto Pires, J. ^{[1
]}

Loureiro, Altino ^{[1
]}

机构：

[1] Univ Coimbra, Dept Mech Engn CEMUC POLO 2, P-3030788 Coimbra, Portugal

来源：

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2013年 / 68卷 / 1-4期

关键词：

Force control; Fuzzy-PI; Autonomous robots; Robotics; Partly unknown environment; FORCE CONTROL; SYSTEMS; DESIGN; MANIPULATORS; MODEL;

D O I：

10.1007/s00170-013-4741-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a method for robot self-recognition and self-adaptation through the analysis of the contact between the robot end effector and its surrounding environment. Often, in off-line robot programming, the idealized robotic environment (the virtual one) does not reflect accurately the real one. In this situation, we are in the presence of a partially unknown environment (PUE). Thus, robotic systems must have some degree of autonomy to overcome this situation, especially when contact exists. The proposed force/motion control system has an external control loop based on forces and torques exerted on the robot end effector and an internal control loop based on robot motion. The external control loop is tested with an optimal proportional integrative (PI) and a fuzzy-PI controller. The system performance is validated with real-world experiments involving contact in PUEs.

引用

页码：435 / 441

页数：7

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