Paper Title:
The Robotic Force Tracking Based on Single Input Fuzzy Adaptive Controller
  Abstract

In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown environment. In this paper, an effective controller for robot contact tasks is proposed using sliding mode switching surface as a sole fuzzy input variable for substituting the feedback controller in the model reference adaptive control (MRAC), the fuzzy force controller determines the adjustment to the position control loop, adjust the fuzzy controller parameters according to the difference between the actual and desired force responses. There is a sole fuzzy input variable in fuzzy logical controller(FLC), the total number of rules is greatly reduced compared to conventional FLC, hence generations and tuning of controller are more simple and easy. Simulations prove that the excellent adaptability as well as high precision is obtained by the proposed strategy.

  Info
Periodical
Advanced Materials Research (Volumes 328-330)
Chapter
Chapter 3: Mechatronics and Automation
Edited by
Liangchi Zhang, Chunliang Zhang and Zichen Chen
Pages
2117-2120
DOI
10.4028/www.scientific.net/AMR.328-330.2117
Citation
E. C. Li, Z. M. Li, "The Robotic Force Tracking Based on Single Input Fuzzy Adaptive Controller", Advanced Materials Research, Vols. 328-330, pp. 2117-2120, 2011
Online since
September 2011
Export
Price
$32.00
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