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

Himanshu Chaudhary; Vikas Panwar; Rajendra Prasad; N. Sukavanam

doi:10.1007/s10845-014-0952-1

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

Himanshu Chaudhary^*
, Vikas Panwar
, Rajendra Prasad
, N. Sukavanam

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

63 Citations (Scopus)

Abstract

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 proposed controller has been tested using a 6-degree of freedom PUMA robot manipulator. The performance comparison have been done with the fuzzy proportional derivative plus integral, fuzzy proportional integral derivative and conventional proportional integral derivative controllers subjected to the same data set with proposed controller. The projected AFSPD+I controller adhered to the desired path closer and smoother than the other mentioned controllers.

Original language	English
Pages (from-to)	1299-1308
Number of pages	10
Journal	Journal of Intelligent Manufacturing
Volume	27
Issue number	6
DOIs	https://doi.org/10.1007/s10845-014-0952-1
Publication status	Published - 01-12-2016

All Science Journal Classification (ASJC) codes

Software
Industrial and Manufacturing Engineering
Artificial Intelligence

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10.1007/s10845-014-0952-1

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abstract = "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 proposed controller has been tested using a 6-degree of freedom PUMA robot manipulator. The performance comparison have been done with the fuzzy proportional derivative plus integral, fuzzy proportional integral derivative and conventional proportional integral derivative controllers subjected to the same data set with proposed controller. The projected AFSPD+I controller adhered to the desired path closer and smoother than the other mentioned controllers.",

author = "Himanshu Chaudhary and Vikas Panwar and Rajendra Prasad and N. Sukavanam",

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AU - Sukavanam, N.

PY - 2016/12/1

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N2 - 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 proposed controller has been tested using a 6-degree of freedom PUMA robot manipulator. The performance comparison have been done with the fuzzy proportional derivative plus integral, fuzzy proportional integral derivative and conventional proportional integral derivative controllers subjected to the same data set with proposed controller. The projected AFSPD+I controller adhered to the desired path closer and smoother than the other mentioned controllers.

AB - 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 proposed controller has been tested using a 6-degree of freedom PUMA robot manipulator. The performance comparison have been done with the fuzzy proportional derivative plus integral, fuzzy proportional integral derivative and conventional proportional integral derivative controllers subjected to the same data set with proposed controller. The projected AFSPD+I controller adhered to the desired path closer and smoother than the other mentioned controllers.

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

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