Hybrid force/position robot control using an adaptive fuzzy control method

A fuzzy adaptive controller, which is able to solve the problems of classical adaptive controllers and conventional fuzzy adaptive controllers, is suggested in this paper. The suggested design method is applied to hybrid robot control. The architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller is explained. A design procedure which can be carried out mathematically and systematically from the model of an objective system is suggested. This fuzzy adaptive controller is used in the control algorithm which is adaptive to the parametric uncertainty in hybrid force/position robot system, and its practicality is confirmed by an experiment on hybrid force/position robot system.

Authors

• Seungwoo Kim
• Heung-Sik Noh
• Dong-Min Woo
• Mignon Park

Keywords

• Robot control
• Programmable control
• Adaptive control
• Fuzzy control
• Force control
• Control systems
• Design methodology
• Robust control
• Mathematical model
• Fuzzy systems
• Control Method
• Adaptive Fuzzy Control
• Adaptive Fuzzy
• Fuzzy Control Method
• Adaptive Fuzzy Control Method
• Parameter Uncertainty
• Design Procedure
• Robotic System
• Control System
• Rule-based
• Mechanical Systems
• Lookup Table
• Force Data
• Force Sensor
• Adaptive Scheme
• Conventional Control Methods
• Hole Area
• Robotic Hand
• Adaptive Control Algorithm
• Adaptive Control Scheme
• Fuzzy Rules
• Robust Stability
• Fuzzy Algorithm
• Adaptive Control Method