A Fuzzy Self-Tuning Hybrid Force/Position Controller for Robotic Manipulator.

Authors

F. Abdel-Kader, Suez Canal University, Faculty of Engineering port-Said
K. El-Serafi, Suez Canal University, Faculty of Engineering port-Said
A. El-Saadawi, Suez Canal University, Faculty of Engineering port-Said
A. Abdel-Rhman, Suez Canal University, Faculty of Engineering port-Said

Corresponding Author

Abdel-Kader, F.

Subject Area

Electrical Engineering

Article Type

Original Study

Abstract

The major problems of hybrid force/position control arise from uncertainty of the robot manipulator and unknown parameters of the task environment. This paper proposes a self tuning fuzzy hybrid forced position control scheme, which can force the end-effector lo tracking a desired force and position trajectories in the Cartesian space. The output of the self tuning algorithm adjusted on-line by the Scaling Factor (SF). The selection of SF value depends on the values of error (e) and change of error (e). The present work is applied to the control of a two degrees-of-freedom (DOF) planar robot manipulator. The simulation results were carried out by using mailab5.3 program.

Recommended Citation

Abdel-Kader, F.; El-Serafi, K.; El-Saadawi, A.; and Abdel-Rhman, A. (2021) "A Fuzzy Self-Tuning Hybrid Force/Position Controller for Robotic Manipulator.," Mansoura Engineering Journal: Vol. 27 : Iss. 3 , Article 2.
Available at: https://doi.org/10.21608/bfemu.2021.142702