Paper Title:
Fuzzy Logic Based Impedance Control to Monitor on Torque under Impulsive Loading
  Abstract

This paper is devoted to design a control system for robot manipulator to optimize motor torque due to external impulsive loading exerted on the manipulator. Under impulsive loading, overloading may occur in the absence of any monitoring on the torque. To avoid the overloading, impedance control is proposed as a force control strategy. Here impedance control based on force feedback of which has hit the end-effector modifies the reference trajectory. In fact, instead of resisting against impulsive loading up to extreme power of the motor, the proposed design generates small movements in the direction of impact. Therefore, the motor produces less torque in comparison to the absence of impedance control. A supervisory system assisting fuzzy logic has been used to adapt impedance controller parameters with various impact conditions. The simulation result confirms the improvement of the manipulator behavior which yields sensible reduction in motor developed torque in comparison to single PID controller.

  Info
Periodical
Chapter
Chapter 24: Semiconductor Materials Manufacturing
Edited by
Wu Fan
Pages
5345-5350
DOI
10.4028/www.scientific.net/AMM.110-116.5345
Citation
M. R. Dizaji, M. R. H. Yazdi, M. A. Shirzi, "Fuzzy Logic Based Impedance Control to Monitor on Torque under Impulsive Loading", Applied Mechanics and Materials, Vols. 110-116, pp. 5345-5350, 2012
Online since
October 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Chuan Wei Zhang
Abstract:This paper discusses different drive control methods of electric vehicle (EV), presents the design of H∞ robust controller for driving...
215
Authors: Xiao Li, Xiao Hua Yang
Abstract:Considering the nonlinear and time-variable characteristics of the injection cylinder system of hydraulic injection molding machine (HIMM), a...
1117
Authors: Zheng Mei Cheng, Xiao Ding Guo, Xiao Ke Chen, Jing Xin Deng
Abstract:The voltage stability of test power source system about small locomotive is poor, and the response speed is slow. The theory of adaptive...
240
Authors: He Xiang Liu, Hai Tao Yu, Min Qiang Hu, Lei Huang, Li Yu
Chapter 1: Material Section
Abstract:In this paper, an acceleration compensating control approach is used for dealing with the non-linear dynamics of a multiple degrees of...
64