A Self-tuning Fuzzy Robotic Force Controller
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.
KeywordsContact Force Force Control Fuzzy Controller Force Controller Type Fuzzy Logic Controller
Unable to display preview. Download preview PDF.
- Astrom, K.J. and Hagglund. T, PID controllers: Theory design and tuning,Inst. Society of America.Google Scholar
- Bicker R and Burn K, Robotic Deburring using a fuzzy force controller, pp 439–445, Proc. of 13thCISMIFToMM Symposium on the Theory & Practice of Robots & Manipulators,2000, Springer-VerlagGoogle Scholar
- Di Ruscio D, Adjustment of PID control parameters, Modeling, identification and control, v13, 1992.Google Scholar
- Han-xiong Li, A comparative design and tuning for conventional fuzzy control, IEEE Trans. On System, Man and Cybernectics-Part B: vo1. 27 October 1997, 884–889.Google Scholar
- Hogan N, Impedance control approach to manipulation, parts I-III, J.Dyn.Syst.Meas.Control 107, 1985.Google Scholar
- Kazerooni H et al., Approach to deburring using impedance control, IEEE Control System Mag. 1988.Google Scholar
- Suh I. H., Hong J. H., Oh S-R. and Kim K. B., Fuzzy rule based position/force control of industrial manipulators. Proc. of IEEE/RIS International workshop on intelligent Robots and Systems, pp. 1617–1622, Osaka, November (1991).Google Scholar