Adaptive fuzzy position/force hybrid control for constrained reconfigurable manipulators with unknown disturbances

This paper is concerned with an adaptive fuzzy position/force hybrid control scheme for constrained reconfigurable manipulators with unknown disturbance. A reduced dynamic model of the system is derived in the presence of the environmental constraints. Based on the reduced dynamics, the fuzzy logic systems are designed to approximate the overall dynamics, and unknown disturbance is overcome by adaptive algorithm. Then the effect of the approximation error is removed by employing an adaptive sliding mode compensation term. According to Lyapunov stability theorem, the stability of the system can be verified. Finally, the simulations of two 2-DOF reconfigurable manipulators with different configurations demonstrate that the proposed control scheme is useful and efficient.