Fuzzy Hybrid Control and Its Application in Robot Assembly Task

Luo Fei; Yu Datai; Sun Yikang

doi:10.13374/j.issn1001-053x.1994.04.014

Volume 16 Issue 4

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Article Navigation > Chinese Journal of Engineering > 1994 > 16(4): 368-373

Luo Fei, Yu Datai, Sun Yikang. Fuzzy Hybrid Control and Its Application in Robot Assembly Task[J]. Chinese Journal of Engineering, 1994, 16(4): 368-373. doi: 10.13374/j.issn1001-053x.1994.04.014

Citation:

Luo Fei, Yu Datai, Sun Yikang. Fuzzy Hybrid Control and Its Application in Robot Assembly Task[J]. Chinese Journal of Engineering, 1994, 16(4): 368-373. doi: 10.13374/j.issn1001-053x.1994.04.014

Luo Fei, Yu Datai, Sun Yikang. Fuzzy Hybrid Control and Its Application in Robot Assembly Task[J]. Chinese Journal of Engineering, 1994, 16(4): 368-373. doi: 10.13374/j.issn1001-053x.1994.04.014

Citation:

Luo Fei, Yu Datai, Sun Yikang. Fuzzy Hybrid Control and Its Application in Robot Assembly Task[J]. Chinese Journal of Engineering, 1994, 16(4): 368-373. doi: 10.13374/j.issn1001-053x.1994.04.014

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Fuzzy Hybrid Control and Its Application in Robot Assembly Task

doi: 10.13374/j.issn1001-053x.1994.04.014

1. Department of Automation, USTB, Beijing 100083, PRC;
2. Robotics Research Instistute, USTB

Received Date: 1992-09-29
Available Online: 2021-11-13

Abstract

Abstract

Based on the fuzzy inference, a fuzzy hybrid control is proposed in this paper.This approach is applied to a peg-and-hole task using a robot with three degrees of freedom. The experiment showed that the amplitude of the vibrations could be reduced more than 95% by the approach, and the jamming was eliminated to make the task be accomplished more smoothly.
- robot,
- fuzzy control,
- Hybrid control