Impedance force position control for planar 3DOF robot manipulator by fuzzy neural network combination
Other Title(s)
السيطرة على القوة المعوقة و الموقع ذراع روبوت مستوي ثلاثي درجات الحرية بجمع المنطق المضبب و الشبكة العصبية
Author
Source
al-Rafidain Engineering Journal
Issue
Vol. 24, Issue 1 (31 Oct. 2019), pp.46-54, 9 p.
Publisher
University of Mosul College of Engineering
Publication Date
2019-10-31
Country of Publication
Iraq
No. of Pages
9
Main Subjects
Abstract EN
As the demands for more robot's complex tasks were increased, force and torque control had become necessary.
When contact forces are present, the performance of the trajectory tracking controller is degraded.
Impedance force / position controller is proposed in this paper.
The impedance force at the tip is controlled by fuzzy PID controller.
PID controller tuned by adaptive linear network is used for trajectory tracking.
A combination of fuzzy PID controller and PID controller tuned by neural network is used to generate the required torque at the robot manipulator's joints.
The Jacobian matrix is derived for planar 3-DOF to transform the forces into joints' torque.
Simulations are presented for robot manipulator with force contact at the tip.
The trajectory tracking is improved by using fuzzy PID controller for impedance force of the environment.
American Psychological Association (APA)
al-Khayyat, Sad Zaghlul Said. 2019. Impedance force position control for planar 3DOF robot manipulator by fuzzy neural network combination. al-Rafidain Engineering Journal،Vol. 24, no. 1, pp.46-54.
https://search.emarefa.net/detail/BIM-947798
Modern Language Association (MLA)
al-Khayyat, Sad Zaghlul Said. Impedance force position control for planar 3DOF robot manipulator by fuzzy neural network combination. al-Rafidain Engineering Journal Vol. 24, no. 1 (Oct. 2019), pp.46-54.
https://search.emarefa.net/detail/BIM-947798
American Medical Association (AMA)
al-Khayyat, Sad Zaghlul Said. Impedance force position control for planar 3DOF robot manipulator by fuzzy neural network combination. al-Rafidain Engineering Journal. 2019. Vol. 24, no. 1, pp.46-54.
https://search.emarefa.net/detail/BIM-947798
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 53
Record ID
BIM-947798