TY - GEN
T1 - Compliance control on 6-DOF robot modular manipulator with fuzzy methodology
AU - Wei, Hongxing
AU - Gu, Tianqi
AU - Yang, Bo
AU - Shao, Zhenzhou
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/27
Y1 - 2016/9/27
N2 - Manipulators are now widely used in many aspects and many of them are cooperative with human. This requires higher security performance to manipulators. The compliance control to the manipulator seems difficult because of features of actuators, mechanical inertia, the coupling forces and the requirement of smooth and accurate control. We presented a compliance control method based on fuzzy methodology to guarantee the compliance of the manipulator. We designed a fuzzy controller to decrease the forces when the manipulator is stuck to ensure safety. We combined the fuzzy controller with the dynamic model of the manipulator to form a new mathematics model. This model is consist of three parts: the compensation of the Coriolis and centripetal force and gravity, proportional control and the feedback of the fuzzy controller. Simulation results on a 6-DOF manipulator, OUR-1, show this compliance controller we designed can guarantee the compliance and ensure safety when cooperating with human.
AB - Manipulators are now widely used in many aspects and many of them are cooperative with human. This requires higher security performance to manipulators. The compliance control to the manipulator seems difficult because of features of actuators, mechanical inertia, the coupling forces and the requirement of smooth and accurate control. We presented a compliance control method based on fuzzy methodology to guarantee the compliance of the manipulator. We designed a fuzzy controller to decrease the forces when the manipulator is stuck to ensure safety. We combined the fuzzy controller with the dynamic model of the manipulator to form a new mathematics model. This model is consist of three parts: the compensation of the Coriolis and centripetal force and gravity, proportional control and the feedback of the fuzzy controller. Simulation results on a 6-DOF manipulator, OUR-1, show this compliance controller we designed can guarantee the compliance and ensure safety when cooperating with human.
UR - https://www.scopus.com/pages/publications/84991711435
U2 - 10.1109/WCICA.2016.7578585
DO - 10.1109/WCICA.2016.7578585
M3 - 会议稿件
AN - SCOPUS:84991711435
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3242
EP - 3247
BT - Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th World Congress on Intelligent Control and Automation, WCICA 2016
Y2 - 12 June 2016 through 15 June 2016
ER -