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Force control for industrial applications using a fuzzy PI controller

J. Norberto Pires (Mechanical Engineering Department, University of Coimbra, Coimbra, Portugal)
Tiago Godinho (San José SA, Lisboa, Portugal)
Ricardo Araújo (Idite Minho, Braga, Portugal)

Sensor Review

ISSN: 0260-2288

Article publication date: 1 March 2004

648

Abstract

In this paper, a small revision on force control strategies is presented, stressing the implementation requirements of each strategy with the objective of clarifying the reasons of their poor practical utilization in industry. Furthermore, recognizing that direct force control approaches require system changes on actual robot control systems, which calls for manufacturer cooperation, an indirect force control approach is presented. The controller is introduced along with implementation description. The system is tested with an industrial deburring application that is also briefly introduced. Research experimental results of the proposed controller obtained in the laboratory, and experimental results obtained with the industrial deburring application are presented and discussed.

Keywords

Citation

Norberto Pires, J., Godinho, T. and Araújo, R. (2004), "Force control for industrial applications using a fuzzy PI controller", Sensor Review, Vol. 24 No. 1, pp. 60-67. https://doi.org/10.1108/02602280410515833

Publisher

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Emerald Group Publishing Limited

Copyright © 2004, Emerald Group Publishing Limited

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