Title :
Adaptive fuzzy hybrid force/position control for robot manipulators following contours of an uncertain object
Author :
Hsu, Feng-Yih ; Fu, Li-Chen
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
This paper proposes an adaptive fuzzy hybrid force/position control scheme, which can force the end effector of robot manipulators to follow the contour of an object in lack of knowledge of the exact geometric shape. The control objective is to perform hybrid force/position control regardless of the existence of the manipulator dynamics. The control algorithm proposed can adaptively update the position trajectory command as well as fuzzy control rules, and consequently, guarantee the global stability and drive the tracking errors to a neighborhood of zero. The present work is applied to the control of a five degree-of-freedom (DOF) articulated robot manipulator. Simulation results show that the proposed control architecture is featured in fast algorithmic convergence
Keywords :
adaptive control; force control; fuzzy control; manipulators; position control; stability; uncertain systems; 5-DOF articulated robot manipulator; adaptive fuzzy hybrid force/position control; contour following; end effector; fast algorithmic convergence; fuzzy control rules; position trajectory command; robot manipulators; uncertain object; Adaptive control; End effectors; Force control; Fuzzy control; Heuristic algorithms; Manipulator dynamics; Position control; Programmable control; Robots; Shape control;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506496