Active tracking of unknown surface using force sensing and control technique for robot

This paper is an introduction to a methodology of active tracking of unknown surface using force sensing and control technique for robot. The hierarchical system of force sensing and control for robot is built from the perspective of large-scale system. And a novel strategy of force sensing, and control is presented on the basis of information fusion of force and position, fuzzy hierarchical coordination and neural control. The essential equations have been derived precisely for robot to understand the unknown surface under the consideration of friction and constraint conditions of motion and force. New algorithms of fuzzy hierarchical coordination-based neural control have been developed. The experimental researches of tracking bulb surface for robot are implemented in Adept robot. Good result is obtained. (C) 2004 Elsevier B.V. All rights reserved.