A fuzzy self-tuning hybrid force-position controller for robotic manipulator

الملخص EN

The major problems of hybrid force/position control arise from uncertainty of the robot manipulator and unknown parameters of the task environment.

This paper proposes a selftuning fuzzy hybrid force/ position control scheme, which can force the end-effector to tracking a desired force and position trajectories in the Cartesian space.

The output of the selftuning algorithm adjusted on-line by the Scaling Factor (SF).

The selection of SF value depends on the values of error (e) and change of error (e& ).

The present work is applied to the control of a two degrees-of-freedom (DOF) planar robot manipulator.

The simulation results were carried out by using matlab5.3 program.