Hybrid intelligent active force control of a robotic manipulator

Abstract

A robot must be effectively and efficiently controlled so that it could perform the prescribed tasks according to the desired requirements or specifications, typically in repetitive manner while at the same time should achieve a sufficiently high degree of accuracy. For a robot to operate effectively in a changing environment, appropriate control strategy needs to be selected and then appropriately implemented. However, controlling a robot that is operated in such condition is indeed difficult and challenging. This can be evidently seen in many manufacturing processes involving the use of industrial robots such as in deburring, grinding, polishing, burnishing and profile cutting of a rigid workpiece or object. All these tasks necessitate the robot’s endeffector (tool) to interact positively with the manipulated object.