Conventional and Fuzzy Force Control in Robotised Machining

Zenon Hendzel; Andrzej Burghardt; Piotr Gierlak; Marcin Szuster

doi:10.4028/www.scientific.net/SSP.210.178

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Comparison of Single and Multi-Population Evolutionary Algorithm for Path Planning in Navigation Situation
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Conventional and Fuzzy Force Control in Robotised Machining
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HomeSolid State PhenomenaSolid State Phenomena Vol. 210Conventional and Fuzzy Force Control in Robotised...

Conventional and Fuzzy Force Control in Robotised Machining

Abstract:

This article presents an application of the hybrid position-force control of the robotic manipulator with use of artificial neural networks and fuzzy logic systems in complex control system. The mathematical description of the manipulator and a closed-loop system are presented. In the position control were used the PD controller and artificial neural networks, which compensate nonlinearities of the manipulator. The paper presents mainly the application of various strategies of the force control. The force control strategies using conventional controllers P, PI, PD, PID and fuzzy controllers are presented and discussed. All of the control methods were verified on the real object in order to make a comparison of a control quality.

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Periodical:

Solid State Phenomena (Volume 210)

Pages:

178-185

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.210.178

Citation:

Cite this paper

Online since:

October 2013

Authors:

Zenon Hendzel, Andrzej Burghardt, Piotr Gierlak, Marcin Szuster

Keywords:

Force Control, Fuzzy Control, Manipulator Control, PID Control, Robotised Machining

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