Abstract
In this paper, we suggest a method of deciding the PD gains of a stiffness controller using an identification method based on the Takagi-Sugeno's fuzzy model. It is difficult to perform a compliance task due to the characteristics of the robot itself and an uncertain work environment. Therefore, in this paper, we identify a fuzzy model by dividing the relationship of input-output data into several piecewise-linear equations using the Hough transform, which is an image processing method, and by fine-tuning the parameters of the fuzzy model by a gradient-descent method. By using this fuzzy model, we propose a method of designing the PD gains of the stiffness controller. Finally we show the validity of this method by a surface tracking experiment using a paper box.
| Original language | English |
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| Pages | 322-327 |
| Number of pages | 6 |
| State | Published - 1995 |
| Event | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA Duration: 5 Aug 1995 → 9 Aug 1995 |
Conference
| Conference | Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
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| City | Pittsburgh, PA, USA |
| Period | 5/08/95 → 9/08/95 |