Romansy 14 pp 119-126 | Cite as

A Self-tuning Fuzzy Robotic Force Controller

  • Robert Bicker
  • Zhongxu Hu
  • Kevin Burn
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


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.


Contact Force Force Control Fuzzy Controller Force Controller Type Fuzzy Logic Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Robert Bicker
    • 1
  • Zhongxu Hu
    • 1
  • Kevin Burn
    • 2
  1. 1.Department of Mechanical EngineeringUniversity of Newcastle upon TyneEngland, UK
  2. 2.Department of Computer Science & TechnologyUniversity of SunderlandEngland, UK

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