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Intelligent active force control of a robot arm using fuzzy logic

Mailah, Mailah and Abdul Rahim, Nurul Izzah (2000) Intelligent active force control of a robot arm using fuzzy logic. TENCON 2000. Proceedings, 2 . pp. 291-296.

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Official URL: http://dx.doi.org10.1109/TENCON.2000.888750

Abstract

The paper describes a novel and intelligent method of estimating the inertial parameter of a rigid robot arm employing an active force control (AFC) strategy with a fuzzy logic (FL) mechanism embedded in its control loop. The robustness and effectiveness of the proposed central scheme are investigated considering the trajectory track performance of the arm taking into account the application of some forms of external disturbances as the robot describes a reference trajectory given a number of initial and operating conditions. The track performance of the proposed scheme is also compared with an equivalent system employing classical proportional-derivative (PD) control

Item Type:Article
Additional Information:ISBN 0-7803-6355-8
Uncontrolled Keywords:AFC, FL, PD control, fuzzy control, fuzzy logic, inertial parameter estimation
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:2325
Deposited By: Dr Zaharuddin Mohamed
Deposited On:11 Apr 2007 07:40
Last Modified:11 Oct 2010 04:32

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