Title :
Velocity observer based fuzzy PD+I based hybrid force/position control of an industrial robot
Author :
Chaudhary, Himanshu ; Parashar, Ashwani ; Prasad, Ranga ; Sukavanam, Nagrajan
Author_Institution :
Dept. of Electr. Eng., IIT Roorkee, Roorkee, India
Abstract :
A velocity observer based hybrid fuzzy PD+I (VOB-FPD+I) based force plus position controller has been proposed which works well with unspecified robot dynamics for a robot manipulator under constraint environment for unknown joint velocities. The VOB-FPD+I controller has been utilized as a principal controller to be tuned up by orthodox PID gains throughout the complete trajectory tracking process. The validity of the proposed controller has been studied using a 6-Degree of Freedom (DOF) PUMA robot manipulator. The projected hybrid VOB-FPD+I force/position controller followed the desired path closer and smoother.
Keywords :
force control; fuzzy control; industrial robots; manipulator dynamics; observers; three-term control; trajectory control; velocity control; 6-degree of freedom PUMA robot manipulator; DOF PUMA robot manipulator; VOB-FPD+I controller; constraint environment; force plus position controller; hybrid force/position control; industrial robot; joint velocities; orthodox PID gains; robot dynamics; trajectory tracking process; velocity observer based hybrid fuzzy PD+I; Force; Joints; Manipulator dynamics; Mathematical model; Service robots; degree of freedom; force control; fuzzy control; manipulator dynamics; position control; velocity observer;
Conference_Titel :
Engineering and Computational Sciences (RAECS), 2014 Recent Advances in
Conference_Location :
Chandigarh
Print_ISBN :
978-1-4799-2290-1
DOI :
10.1109/RAECS.2014.6799648
