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A software tool for automating the design of robot fuzzy force controllers

Lookup NU author(s): Dr Kevin Burn, Dr Bob Bicker

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Abstract

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.

Publication metadata

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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