Visually aided force control with fuzzy parameter tuning

Çallı, Berk and Erbatur, Kemalettin and Ünel, Mustafa (2009) Visually aided force control with fuzzy parameter tuning. In: ICONS 2009 - The 2nd International Conference on Intelligent Systems and Control,

[thumbnail of icons09_110.pdf] PDF
Restricted to Registered users only

Download (237kB) | Request a copy


Vision and force sensors provide rich information which can enable robots to execute complex tasks. However, the integration of these two different types of sensors is not a trivial task. This paper provides a novel technique for the integration of vision and force information. Visual servoing and explicit force control techniques are applied in the task frame formalism. Disadvantages of the constant parameter controllers are addressed and a solution based on fuzzy tuning rules is proposed. The solution is an example of shared control strategy. Experimental results conducted on a 2 DOF direct drive SCARA robot for the manipulation of a sample object are presented both for fixed parameter and fuzzy-tuned controller and results are compared.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Kemalettin Erbatur
Date Deposited: 02 Dec 2009 15:22
Last Modified: 26 Apr 2022 08:53

Actions (login required)

View Item
View Item