A Self-tuning Fuzzy Robotic Force Controller
نویسندگان
چکیده
Most industrial robots are controlled as position servo-based manipulators. This has made most advanced force control algorithms unpractical and difficult to implement. In this paper a position based fuzzy PID force controller is proposed to regulate contact force of a six degree of freedom industrial robot where the environment contact stiffness varies considerably. Based on a relationship between fuzzy PID and conventional PID control laws and the application of a simple fuzzy self-tuning method, the controller is tuned and satisfying experimental results have been obtained to validate its efficiency.
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