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Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI

Shu-Huan Wen*, Wei Zheng, Shi-Dong Jia, Zhi-Xin Ji, Peng-Cheng Hao, and Hak-Keung Lam
International Journal of Control, Automation, and Systems, vol. 18, no. 6, pp.1629-1640, 2020

Abstract : This paper investigates the fuzzy position/force hybrid control for a class of 5-degree-of-freedom (DOF) redundantly actuated parallel robots. The position control law is designed based on the proportional-integral differential (PID) for the 5-DOF redundantly actuated parallel robot. The fuzzy proportional-integral (PI) redundant actuation force control law is designed based on the position/force hybrid control structure for the 5-DOF redundantly actuated parallel robot. The optimum driving force is obtained in the presence of interference, and the force tracking performance of the fuzzy PI controller is better than the conventional PI controller under the interference condition. Based on the fuzzy position/force hybrid controller, the tracking performance of the closed-loop system for the 5-DOF redundantly actuated parallel robot is improved by using the fuzzy position/force hybrid controller and the interference is eliminated effectively in the control system design. Finally, the co-simulation results of ADAMS and MATLAB/SIMULINK are given to show the effectiveness and advantages of the proposed methods compared with the conventional PI controller.

Keyword : Fuzzy control, parallel robots, position/force hybrid control, redundant actuation.

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