Intelligent active force control of a three-link manipulator using fuzzy logic
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...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering
2003
|
| Subjects: | |
| 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/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | 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 robustness and effectiveness of the proposed control scheme are investigated considering the trajectory track performance of the robotic arm taking into account the application of external disturbances and that the arm is commanded to describe a reference trajectory given a number of initial and operating conditions. The results show that the FL mechanism used in the study successfully computes appropriate estimated inertia matrix value to execute the control action. The proposed scheme exhibits a high degree of robustness and accuracy as the track error is bounded within an acceptable range of value even under the influence of the introduced disturbances. |
|---|