Velocity Observer Based Fuzzy PD plus I Based Hybrid Force/Position Control of an Industrial Robot

被引：0
|
作者：
Chaudhary, Himanshu [1 ]
Parashar, Alok [1 ]
Prasad, Rajendra [1 ]
Sukavanam, Nagrajan [2 ]
机构：
[1] IIT Roorkee, Dept Elect Engn, Roorkee, Uttar Pradesh, India
[2] IIT Roorkee, Dept Math, Roorkee, Uttar Pradesh, India
来源：
2014 RECENT ADVANCES IN ENGINEERING AND COMPUTATIONAL SCIENCES (RAECS) | 2014年
关键词：
degree of freedom; force control; fuzzy control; manipulator dynamics; position control; velocity observer; ADAPTIVE-CONTROL; MANIPULATORS; DESIGN; COMPENSATION; FEEDBACK;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
A velocity observer based hybrid fuzzy PD+I (VOB-FPD+I) based force plus position controller has been proposed which works well with unspecified robot dynamics for a robot manipulator under constraint environment for unknown joint velocities. The VOB-FPD+I controller has been utilized as a principal controller to be tuned up by orthodox PID gains throughout the complete trajectory tracking process. The validity of the proposed controller has been studied using a 6-Degree of Freedom (DOF) PUMA robot manipulator. The projected hybrid VOB-FPD+I force/position controller followed the desired path closer and smoother.
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页数：6
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