Fuzzy PD+I based Hybrid force/ position control of an Industrial Robot Manipulator

A hybrid fuzzy PD+I (FPD+I) based force plus position controller with unspecified robot dynamics has been proposed for a robot manipulator under constrained environment. The FPD+I controller has been utilized as a principal controller to tune up orthodox PID gains throughout the complete trajectory tracking process. The validity of the proposed controller has been studied using a 6-Degree of Freedom (DOF) PUMA robot manipulator. Simulation results show that the projected hybrid FPD+I force / position controller adheres to the desired path closer and smoother.