A unified approach to position and force control by fuzzy logic

Masaaki Shibata, Toshiyuki Murakami, Kouhei Ohnishi

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19 Citations (Scopus)

Abstract

This paper proposes a unified control strategy of position and force. Our technique is based on impedance control with fuzzy logic and realizes the smooth shift from position control to force control and vice versa. At first, a robust impedance controller based on disturbance observer is shown, and the method to unify the position and the force control through one controller is described. Next, the algorithm to estimate the dynamic characteristics of the environment is shown, and a force tracking control using the estimated parameters is proposed. Finally, the unified control algorithm of position and force based on fuzzy logic is established. The validity of our method is confirmed by several experimental results.

Original languageEnglish
Pages (from-to)81-87
Number of pages7
JournalIEEE Transactions on Industrial Electronics
Volume43
Issue number1
DOIs
Publication statusPublished - 1996 Dec 1

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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