Design of a Fuzzy Logic Based Robotic Admittance Controller

摘要

ABSTRACTA fuzzy logic based admittance control approach is proposed for the control of robotic end-effector forces occurring during a typical automated robotic manufacturing task. The proposed admittance control approach provides the necessary nonlinear control actions required in a typical automated robotic manufacturing task, and at the same time enables the incorporation of existing knowledge obtained from the process operator, in the design of the controller. This can significantly reduce the controller development time. The robotic deburring task is used as an example of a typical manufacturing task, although the technique can be easily extended to other manufacturing tasks. Automated robotic deburring offers an attractive alternative to manual deburring in terms of reduced costs and improved quality of the finished parts. The approaches proposed for control of deburring using conventional control techniques require an accurate process model and hence are not ideally suited for control under conditio...