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software automation

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A software tool for automating the design of robot fuzzy force controllers
K. Burn, G. Home, M. Short, R. Bicker
Journal:

Robotica / Volume 23 / Issue 2 / March 2005

Published online by Cambridge University Press:

11 March 2005, pp. 247-256
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This paper describes a software tool to automate a design method for robotic fuzzy force control. The original method was developed to ensure robust and stable force control in situations where environmental stiffness at the robot/task interface is unknown, obviating the use of fixed-gain controllers. It did, however, involve a manual design process requiring significant knowledge of control theory and fuzzy logic. This process has been automated in the form of a Windows-based application, requiring minimal user inputs and incorporating an automatic tuning technique for improved performance in the final controller application. Results obtained from an experimental robot are presented.