Robotic Impedance Control with Fuzzy Sliding Model Control Strategy

Shiuh Jer Huang; Chiao Kuen Yu; You Min Huang

doi:10.4028/www.scientific.net/AMM.598.605

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 598Robotic Impedance Control with Fuzzy Sliding Model...

Robotic Impedance Control with Fuzzy Sliding Model Control Strategy

Abstract:

During robotic assembly and interactive applications, the robot end-effector must follow a motion trajectory and exert an appropriate force profile against the contacted environment to provide a specified dynamic working compliance. It is a difficult control problem. Here, an embedded robotic control structure is constructed and the related hybrid control software programs are developed. The model-free intelligent fuzzy sliding mode controller is introduced to design force and position controllers, respectively for hybrid impedance control purpose. The experimental results are provided to demonstrate the effectiveness of the proposed hybrid impedance control system.

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Periodical:

Applied Mechanics and Materials (Volume 598)

Pages:

605-609

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.598.605

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Online since:

July 2014

Authors:

Shiuh Jer Huang, Chiao Kuen Yu, You Min Huang

Keywords:

FPGA Control Structure, Fuzzy Sliding Mode Control, Hybrid Control, Robot

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