Position/force control of robot manipulators for geometrically unknown objects using fuzzy neural networks

In order to carry out the tasks of grinding, deburring, polishing, or wipin g, the end-effector of the robot manipulator has to follow the contour of a n object. In this paper, we propose a fuzzy vector method, which enables th e controller to deal efficiently with force sensor signals which include no ise and/or unknown vibrations caused by the working tool, to search the dir ection of the constraint surface of an unknown object.