Abstract
Impedance control allows the manipulator to change the mechanical impedance such as inertia, damping and stiffness, acting between the end-effector and its environment. However, to achieve stable force control under unknown stiff environments, complicated tuning of desired impedance parameters is needed. Among the parameters, the desired damping is the most significant to suppress overshoots and oscillations. In this paper, the generalized fuzzy environment models with anisotropy is proposed to systematically determine the desired damping against to unknown environments. The models learned with genetic algorithms, can estimate the each directional stiffness of environment and yield the desired damping, considering the critical damping condition of the control system. Position and force control simulations are shown to demonstrate the effectiveness and promise of the models.
| Original language | English |
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| Pages | 590-596 |
| Number of pages | 7 |
| Publication status | Published - Dec 1 1999 |
| Externally published | Yes |
| Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: Oct 17 1999 → Oct 21 1999 |
Other
| Other | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
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| City | Kyongju, South Korea |
| Period | 10/17/99 → 10/21/99 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications