| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 713394 | IFAC Proceedings Volumes | 2014 | 8 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
