A FUZZY INTEGRATED APPROACH TO IMPEDANCE CONTROL OF ROBOT MANIPULATORS

S. J. C. Marques, L.F. Baptista, J.M.G. Sá da Costa

Abstract

This paper presents an integrated fuzzy approach to recover the performance in impedance control, reducing the errors in position and force, considering uncertainties in the parameters of the manipulator model and contact surface model. This integrated strategy considers a fuzzy adaptive compensator in the outer control loop that adjusts the manipulator tip position to compensate for uncertainties present in the environment. In the inner loop, a fuzzy sliding mode-based impedance controller compensates for uncertainties in the manipulator model, based on an inverse dynamics control law. The system error, defines the sliding surfaces of the fuzzy sliding controller as the difference between the desired and the actual impedances. In order to evaluate the force/position tracking performance and to validate the proposed control structure, simulations results are presented with a three-degree-of freedom (3-DOF) PUMA robot.

References

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Paper Citation


in Harvard Style

Marques S., Baptista L. and Sá da Costa J. (2004). A FUZZY INTEGRATED APPROACH TO IMPEDANCE CONTROL OF ROBOT MANIPULATORS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 201-206. DOI: 10.5220/0001139902010206


in Bibtex Style

@conference{icinco04,
author={S. J. C. Marques and L.F. Baptista and J.M.G. Sá da Costa},
title={A FUZZY INTEGRATED APPROACH TO IMPEDANCE CONTROL OF ROBOT MANIPULATORS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={201-206},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001139902010206},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A FUZZY INTEGRATED APPROACH TO IMPEDANCE CONTROL OF ROBOT MANIPULATORS
SN - 972-8865-12-0
AU - Marques S.
AU - Baptista L.
AU - Sá da Costa J.
PY - 2004
SP - 201
EP - 206
DO - 10.5220/0001139902010206