Precision Positioning With Force Sensing and Fuzzy Control
Hakan B. Gürocak, A. de Sam Lazaro · 1991
Abstract The use of force feed back for manipulator control is a well established technique. However, measurement inaccuracies and system noise precluded any practical deployment of this method. In this paper an approach to force sensing and measurement will be discussed. A method of accounting for measurement errors and system noise will be introduced. The use of fuzzy control for fine positioning will be presented. The method described in this paper provides an inexpensive alternative to vision systems using a software approach.