Cartesian Robot Operation with Fuzzy Adaptive Force Control (CROSBI ID 659880)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Brkić, Vedran ; Kovačić, Zdenko
engleski
Cartesian Robot Operation with Fuzzy Adaptive Force Control
The paper presents results of implementing and testing a fuzzy adaptive force controller on the state-of-the-art Cartesian robot Schneider Electric MAX R3. By using a second-order reference model, proportional force feedback controller, and a fuzzy adaptation mechanism using a model tracking error, the fuzzy adaptive force control system improves dynamic characteristics and keeps the model tracking error within desired limits for a range of moderate environment stiffness variations.
Robot, contact force, adaptive fuzzy control
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Podaci o prilogu
352-357.
2017.
objavljeno
10.1109/MED.2017.7984143
Podaci o matičnoj publikaciji
Proceedings of the 25th Mediterranean Conference on Control and Automation
Valletta: Institute of Electrical and Electronics Engineers (IEEE)
9781509045341
Podaci o skupu
The 25th Mediterranean Conference on Control and Automation MED 2018
predavanje
03.07.2017-06.07.2017
Valletta, Malta
