Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator

In this paper an ANFIS-PD+I (AFSPD+I) based hybrid force/position controller has been proposed which works effectively with unspecified robot dynamics in the presence of external disturbances. A constraint is put to limit the movement of manipulator in XY Cartesian coordinates. The validity of the p...

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Veröffentlicht in:	Journal of intelligent manufacturing 2016-12, Vol.27 (6), p.1299-1308
Hauptverfasser:	Chaudhary, Himanshu, Panwar, Vikas, Prasad, Rajendra, Sukavanam, N.
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control systems Business and Management Control Control algorithms Controllers Decomposition Friction Fuzzy Fuzzy logic Fuzzy sets Integrals Machines Manipulation Manipulators Manufacturing Manufacturing execution systems Mathematical analysis Mechatronics Neural networks Processes Production Proportional integral derivative Robot arms Robotics Robots Studies Wavelet transforms
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