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Authors: S. J. C. Marques 1 ; L.F. Baptista 2 and J.M.G. Sá da Costa 2

Affiliations: 1 Polytechnic Institute of Lisbon, Instituto Superior de Engenharia de Lisboa, Portugal ; 2 Technical University of Lisbon, Instituto Superior Técnico, Portugal

ISBN: 972-8865-12-0

ISSN: 2184-2809

Keyword(s): Fuzzy adaptive control, fuzzy sliding mode control, force control, robot manipulators.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:
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

@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},
}

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

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