Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator

In this paper an ANFIS-PD+I (AFSPD+I) based hybrid force/position controller has been proposed which works effectively with unspecified robot dynamics in the presence of external disturbances. A constraint is put to limit the movement of manipulator in XY Cartesian coordinates. The validity of the proposed controller has been tested using a 6-degree of freedom PUMA robot manipulator. The performance comparison have been done with the fuzzy proportional derivative plus integral, fuzzy proportional integral derivative and conventional proportional integral derivative controllers subjected to the same data set with proposed controller. The projected AFSPD+I controller adhered to the desired path closer and smoother than the other mentioned controllers.