HYBRID POSITION/FORCE CONTROL OF ROBOT MANIPULATORS MOUNTED ON OSCILLATORY BASES USING ADAPTIVE FUZZY CONTROL

This paper focuses on the issue of hybrid force/position control of the robots with oscillatory base. The purpose of controlling a system is to control the contact force between the environment and object in the constrained directions. The auxiliary control input laws with adaptive network-based fuzzy inference system (ANFIS) tuning methodology was successfully applied for robot manipulators mounted on oscillatory bases for hybrid position/force control purpose. The principal advantage is that the proposed control scheme only needs to select control inputs for task space trajectory tracking; that is, one does not need to redesign a vibration damping controller for such a system. Experiments are conducted to confirm the efficiency of the proposed control design. The results of this study can be feasible to various mechanical systems, such as mobile robot, gantry cranes, underwater robot, and other dynamic systems mounted on oscillatory bases during on constraint motion tasks.