A software tool for automating the design of robot fuzzy force controllers

K. Burn, G. Home, M. Short, R. Bicker

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)247-256
Number of pages10
Issue number2
Publication statusPublished - 1 Mar 2005


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