Intelligent active force control of a three-link manipulator using fuzzy logic

• Main Authors: Mailah, Musa, Low, Hook Jong
• Format: Article
• Language: English
• Published: Faculty of Mechanical Engineering 2003
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/7921/1/MusaMailah2003_IntelligentActiveForceControlof.pdf; http://eprints.utm.my/id/eprint/7921/; https://www.fkm.utm.my/~mekanika/

The paper presents a novel approach to estimate the inertia matrix of a robot arm using a fuzzy logic (FL) mechanism in order to trigger the active force control (AFC) strategy. A comprehensive study is performed on a rigid three-link manipulator subjected to a number of external disturbances. The r...