A New Adaptive Fuzzy Hybrid Force/Position Control for Intelligent Robot Deburring
نویسندگان
چکیده
The major control problems for robot debuning mainly arise from uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired robot motion profile and an inner-loop adaptive fuzzy hybrid force/position controller which can realtime achieve the command. To demonstrate the effectiveness of the present work, it is applied to the control of a five degree-of-freedom (DOF) articulated robot manipulator for deburring tasks.
منابع مشابه
Intelligent robot deburring using adaptive fuzzy hybrid position/force control
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