A New Design of Adaptive Fuzzy Hybrid Force/Position Controller for Robot Manipulators

T h e major problems of hybrid force/position control arise f r o m uncertainty of the robot manipulators and u n k n o w n parameters of the task enviroment. In this paper, a n e w design method of the hybrid force/position control of the robot manipulators i s proposed t o solve these problems. T h e control objective is t o track the desired force and posit ion trajectories simultaneously regardless of the unknown parameters of the task env iroment and the existence of the manipulator dynamics, represented as a fu z zy rube-base. T h e algorithm embedded in the proposed architecture can automatically update the fu z zy rules and, consequently, guarantee the global stability and drive the tracking errors t o a neighborhood of zero. T h e present work is applied t o the control of a five degree-of-freedom (DOF) articulated robot manipulator. S imula t ion results show that the proposed control architecture is featured in fas t convergence.