Switching force/position fuzzy control of robotic manipulator

In this paper a switching force/position control system of robot manipulator by using fuzzy logic is proposed. This system contains a fuzzy control system. The first aim of this paper is achievement of a good end-effector trajectory tracking performance when the manipulator moves in free space. The...

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Bibliographic Details
Published inProceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003) Vol. 1; pp. 484 - 489 vol.1
Main Authors Velagic, J., Adzemovic, A., Ibrahimagic, J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Automatic control
Control systems
Force control
Fuzzy control
Fuzzy logic
Manipulator dynamics
Motion control
Orbital robotics
Robot kinematics
Robotics and automation
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Summary:In this paper a switching force/position control system of robot manipulator by using fuzzy logic is proposed. This system contains a fuzzy control system. The first aim of this paper is achievement of a good end-effector trajectory tracking performance when the manipulator moves in free space. The second is considering the system behavior when contact forces arise. The objective is to control the contact force and enable the robot actively accommodate the reactive force of environment instead of rejecting it. Performance of the force control schemes for different values of compliant environment are considered and analyzed.
ISBN:0780377591
9780780377592
DOI:10.1109/AIM.2003.1225143