design of an adaptive fuzzy estimator for force/position tracking in robot manipulators

Authors

alireza naghsh

farid sheikholeslam

mohammad danesh

abstract

this paper presents a stable new algorithm for force/position control in robot manipulators. in this algorithm, position vectors are measured by sensors and then used in the control law. since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. in this respect, force sensor is replaced by an adaptive fuzzy estimator to estimate the external force based on position and velocity measurements. in this approach, force can be properly estimated using universal approximation property of fuzzy systems. therefore, robots can be controlled in different environments even when no exact mathematical model is available. since this approach is adaptive, accuracy of the system can be improved with time.  through a theorem the stability of the control system is analyzed using lyapunov direct method. at last, satisfactory performances of the proposed approach are verified via some numerical simulations and the results are compared with some previous approaches.

Upgrade to premium to download articles

Sign up to access the full text

Already have an account?login

similar resources

Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

full text

Design of an Adaptive Fuzzy Estimator for Force/position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

full text

Designing an adaptive fuzzy control for robot manipulators using PSO

This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...

full text

An Adaptive Impedance Controller for Robot Manipulators

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

full text

Discrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator

This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

full text

A Novel Robust Adaptive Trajectory Tracking in Robot Manipulators

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

full text

My Resources

Save resource for easier access later


Journal title:
iranian journal of fuzzy systems

Publisher: university of sistan and baluchestan

ISSN 1735-0654

volume 11

issue 1 2014

Hosted on Doprax cloud platform doprax.com

copyright © 2015-2023