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

Published online by Cambridge University Press:  11 March 2005

K. Burn ,
G. Home ,
M. Short  and
R. Bicker
K. Burn
Affiliation:
Centre for Hybrid Intelligent Systems, School of Computing and Technology, University of Sunderland, Sunderland (UK). E-mail: kevin.burn@sunderland.ac.uk
G. Home
Affiliation:
Centre for Hybrid Intelligent Systems, School of Computing and Technology, University of Sunderland, Sunderland (UK). E-mail: kevin.burn@sunderland.ac.uk
M. Short
Affiliation:
Embedded Systems Laboratory, University of Leicester (UK).
R. Bicker
Affiliation:
School of Mechanical and Systems Engineering, University of Newcastle upon Tyne (UK).
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Abstract

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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.

Keywords

RoboticsForce controlFuzzy controlSoftware automation
Type
Research Article
Information
Robotica , Volume 23 , Issue 2 , March 2005 , pp. 247 - 256
Copyright
© 2005 Cambridge University Press