Abstract
In this paper, we propose a new force control method in contact tasks using a fuzzy model. The contact force that is exerted on the environment by the link is some general function of the displacement, and not necessarily linear. First, a new identification method of a fuzzy model is proposed and then a nonlinear function of contact force is modeled by a proposed identification algorithm of a fuzzy model. The system stability for the proposed force control method is proved theoretically using a Lyapunov direct method. Finally it is shown that the proposed method is useful for the force control of manipulator by simulation.
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© 2005 Springer-Verlag Berlin Heidelberg
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Park, CW., Lee, J., Park, M., Park, M. (2005). Fuzzy Model Based Environmental Stiffness Identification in Stable Force Control of a Robot Manipulator. In: Torra, V., Narukawa, Y., Miyamoto, S. (eds) Modeling Decisions for Artificial Intelligence. MDAI 2005. Lecture Notes in Computer Science(), vol 3558. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11526018_24
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DOI: https://doi.org/10.1007/11526018_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-27871-9
Online ISBN: 978-3-540-31883-5
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