- 期刊
APPLICATION OF THE FORCE CONTROL ON THE WORKING PATH TRACKING
並列摘要
For the application of tracking the path on work pieces, the CCD(Charge Couple Device) identificating system is generally used as one of the popular resolutions. However, the implementation of CCD identifycating system is complex and environmental-limited. This study presents a compliant motion controller by using the end-effector installed with a force sensor. This results the smoothly path tracking on a work piece. By applying the algorithm of Fuzzy into this compliant motion, the compliant control is improved and the path on the work piece is found more quickly and accurately. A radius compensating method is used to correct the measured data. The experiments performed have successfully demonstrated the feasibility of the proposed control algorithm.
並列關鍵字
compliance control ； manipulator ； robot ； self-tuning ； path tracking ； radius compensation ； fuzzy control延伸閱讀
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