Hybrid force/position approach for flexible-joint robot with Fuzzy-Sliding mode control

被引：0
|
作者：
Amaini, Rafik [1 ]
Ferguene, Farid [1 ]
Toumi, Redouane [1 ]
机构：
[1] USTHB Univ, Automat & Instrumentat Dept, LRPE Lab, BP 32, Algiers 16111, Algeria
来源：
PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON APPLIED SMART SYSTEMS (ICASS) | 2018年
关键词：
robots with flexible joint; hybrid force/position control; sliding mode; fuzzy control<bold>; </bold>;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The flexibility of the joints must be taken into account in the design of the control law. In this work, we present a hybrid force/position approach based on the external control loop with the Fuzzy-Sliding Mode Control to have the sliding mode robustness and the universal approximation of the fuzzy control in the case where the robot applies a force on the external environment and the flexibility has a harmful effect on the task performed by the robot. A simulation on the robot PUMA 560 has been realized and the results are presented.<bold> </bold>
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页数：6
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