Adaptive Neuro-Fuzzy Controller for Hybrid Position/Force Control of Robotic Manipulators
| Authors: | Farrokhi Mohammad, Iran University of Science & Technology, Iran (Islamic Republic of)
Fanaei Arash, Iran University of Science & Technology, Iran (Islamic Republic of) |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control II |
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| Keywords: | Manipulators, Robot control, Force Control, Position control, Fuzzy control, Adaptive control, Friction, Compensation |
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Abstract
In this paper, an adaptive control method for hybrid position/force control of robot manipulators, based on neuro-fuzzy modelling, is presented. Also, an adaptive neuro-fuzzy compensator compensates the friction force between the endeffector and the surface of the object. Due to the adaptive neuro-fuzzy modelling, the proposed controller is independent of the robot dynamics. Also, the stability of the controller is guaranteed, since the adaptation law is based on Lyapunov theory. The simulation results show good performance of the proposed controller as compared with other conventional control schemes such as computed torque method.
