A Fuzzy Adaptive Force Controller Design of Robotic Manipulators for Pick-and-Placing Thin Brittle Materials

Abstract:

For the pick-and-place operations of GDL, this paper presents and obtains the control system model using system identification method, and analyzes three distinct stages for the motion characteristics in pick-and-place operations. To satisfy the stick requirements for contact force control, a force controller based on fuzzy adaptive PID algorithm and a position controller based on feed-forward control are presented and designed. Simulations are carried out to verify the feasibility and effectiveness of the proposed control method. The above control strategies and methods are applied to pick up and place GDL. They can also be extended to the pick-and-place operations of the chips and other filed, which has broad application prospects.

• Periodical: Applied Mechanics and Materials (Volumes 303-306)
• Pages: 1666-1673
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.303-306.1666
• Online since: February 2013
• Authors: Chong Dong He, Hai Chen Qin, Jian Kui Chen
• Keywords: Contact Force Control, Feed-Forward Control, Fuzzy Adaptive PID, Pick-and-Place Operations, System Identification Method

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