Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator

Obtaining the joint variables that result in a desired position of the robot end-effector called as inverse kinematics is one of the most important problems in robot kinematics and control. As the complexity of robot increases, obtaining the inverse kinematics solution requires the solution of non linear equations having transcendental functions are difficult and computationally expensive. In this paper, using the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) to learn from training data, it is possible to create ANFIS, an implementation of a representative fuzzy inference system using a BP neural network-like structure, with limited mathematical representation of the system. Computer simulations conducted on 2 DOF and 3DOF robot manipulator shows the effectiveness of the approach.

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Drilling Force Control for Robot Manipulator with Combined Rigid and Soft Surface

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.303-306.1741 ◽

2013 ◽

Vol 303-306 ◽

pp. 1741-1747

Author(s):

Zahari Taha ◽

Abdelhakim Deboucha ◽

Azeddein Kinsheel

Keyword(s):

Control Problem ◽

Position Control ◽

Robot Manipulator ◽

Industrial Robot ◽

Drilling Process ◽

Drilling Force ◽

Control Scheme ◽

Soft Surface ◽

Mass Spring ◽

Computed Torque

This paper presents an efficient force position control scheme for high precision drilling on soft surfaces using industrial robot. The control problem is divided into two parts; the gross motion control problem and the drilling control problem. In the gross motion stage the robot motion is controlled using computed torque technique. The drilling process is controlled using hybrid force position control that maintains the desired force and trajectory profiles. The soft surface is represented by single degree of freedom mass-spring-damper system. The performance of the system is tested using 6-dof PUMA 560 robot model.

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Compliant Human–Robot Collaboration with Accurate Path-Tracking Ability for a Robot Manipulator

Applied Sciences ◽

10.3390/app11135914 ◽

2021 ◽

Vol 11 (13) ◽

pp. 5914

Author(s):

Daniel Reyes-Uquillas ◽

Tesheng Hsiao

Keyword(s):

Sliding Mode ◽

Robot Manipulator ◽

Industrial Robot ◽

Path Following ◽

Path Tracking ◽

Control Loop ◽

Loop Control ◽

Tracking Ability ◽

The Difference ◽

Human Robot Collaboration

In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accuracy of a human operator while remaining compliant with the human instructions. We propose a dual-loop control structure where the outer admittance control loop allows the robot to be compliant along a path considering the projection of the external force to the tangential-normal-binormal (TNB) frame associated with the path. The inner motion control loop is designed based on a modified sliding mode control (SMC) law. We evaluate the system behavior to forces applied from different directions to the end-effector of a 6-DOF industrial robot in a linear motion test. Next, a second test using a 3D path as a tracking task is conducted, where we specify three interaction types: free motion (FM), force-applied motion (FAM), and combined motion with virtual forces (CVF). Results show that the difference of root mean square error (RMSE) among the cases is less than 0.1 mm, which proves the feasibility of applying this method for various path-tracking applications in compliant human–robot collaboration.

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On Output Feedback Control Problems of an Industrial Robot Manipulator

2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA) ◽

10.1109/summa48161.2019.8947519 ◽

2019 ◽

Author(s):

Aleksandr Andreev ◽

Olga Peregudova ◽

Lubov Tahtenkova ◽

Lubov Kolegova

Keyword(s):

Feedback Control ◽

Output Feedback ◽

Robot Manipulator ◽

Industrial Robot ◽

Output Feedback Control ◽

Control Problems

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Kinematic parameter calibration method for industrial robot manipulator using the relative position

Journal of Mechanical Science and Technology ◽

10.1007/s12206-008-0305-0 ◽

2008 ◽

Vol 22 (6) ◽

pp. 1084-1090 ◽

Cited By ~ 32

Author(s):

In-Chul Ha

Keyword(s):

Relative Position ◽

Robot Manipulator ◽

Industrial Robot ◽

Calibration Method ◽

Kinematic Parameter ◽

Parameter Calibration

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The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.694-697.1652 ◽

2013 ◽

Vol 694-697 ◽

pp. 1652-1655

Author(s):

Ji Yan Wang

Keyword(s):

Dynamic Characteristics ◽

Upper Bound ◽

Control Method ◽

Robot Manipulator ◽

Industrial Robot ◽

Pd Controller ◽

Robust Controller ◽

Convergence And Stability ◽

Comparison And Analysis ◽

Driving Torque

PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

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