Application of the force control on the working path tracking

Sun Run Wang, Zhi Zhong Qiao, Pi Cheng Tung

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


For the application of tracking the path on workpieces, the CCD (Charge Couple Device) identificating system is generally used as one of the popular resolutions. However, the implementation of CCD identificating system is complex and environmental-limited. This study presents a compliant motion controller by using the end-effector installed with a force sensor. This results the smoothly path tracking on a workpiece. By applying the algorithm of Fuzzy into this compliant motion, the compliant control is improved and the path on the workpiece is found more quickly and accurately. A radius compensating method is used to correct the measured data. The experiments performed have successfully demonstrated the feasibility of the proposed control algorithm.

Original languageEnglish
Pages (from-to)98-103
Number of pages6
JournalJournal of Marine Science and Technology (Taiwan)
Issue number2
StatePublished - 2002


  • Compliance control
  • Fuzzy control
  • Manipulator
  • Path tracking
  • Radius compensation
  • Robot
  • Self-tuning


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