Universiti Teknologi Malaysia Institutional Repository

Intelligent active force control of a three-link manipulator using fuzzy logic

Mailah, Musa and Low, Hook Jong (2003) Intelligent active force control of a three-link manipulator using fuzzy logic. Jurnal Mekanikal (16). pp. 57-78. ISSN 0127-3396


Official URL: https://www.fkm.utm.my/~mekanika/


The paper presents a novel approach to estimate the inertia matrix of a robot arm using a fuzzy logic (FL) mechanism in order to trigger the active force control (AFC) strategy. A comprehensive study is performed on a rigid three-link manipulator subjected to a number of external disturbances. The robustness and effectiveness of the proposed control scheme are investigated considering the trajectory track performance of the robotic arm taking into account the application of external disturbances and that the arm is commanded to describe a reference trajectory given a number of initial and operating conditions. The results show that the FL mechanism used in the study successfully computes appropriate estimated inertia matrix value to execute the control action. The proposed scheme exhibits a high degree of robustness and accuracy as the track error is bounded within an acceptable range of value even under the influence of the introduced disturbances.

Item Type:Article
Uncontrolled Keywords:active force control, fuzzy logic, estimated inertia matrix, robust, three-link manipulator.
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:7921
Deposited By: Norshiela Buyamin
Deposited On:25 Mar 2009 08:35
Last Modified:02 Jun 2010 01:49

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