Abstract
The article deals with force control when the force sense is disturbed, using a lowpass filter and a fuzzy PD controller. The force sense is installed on the endpoint of the robot having six degrees-of-freedom (6-DOF), with a probe mounted on it. The robot is equipped with position servos and uses velocity command to control the force. From the experimental result, the lowpass filter is proved to be necessary and the performance of the fuzzy PD controller is much better than the traditional PD controller.
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CITATION STYLE
Tie, Z., Bo, W., & Junjian, L. (2014). Fuzzy PD compliance control of 6-DOF robot using disturbed force sense. Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 8918, 111–118. https://doi.org/10.1007/978-3-319-13963-0_11
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