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General Information
    • ISSN: 1793-8198
    • Frequency: Quarterly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. K. M. Gupta, Prof. Ian McAndrew
    • Executive Editor: Ms. Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS),  ProQuest, Crossref, Ulrich's Periodicals Directory,  etc.
    • E-mail ijmmm@ejournal.net
Editor-in-chief
Prof. Ian McAndrew
Capitol Technology University, USA
It is my honor to be the editor-in-chief of IJMMM. I will do my best to help develop this journal better.

IJMMM 2014 Vol.2(2): 107-112 ISSN: 1793-8198
DOI: 10.7763/IJMMM.2014.V2.110

ANFIS PD+I Based Hybrid Force/ Position Control of an Industrial Robot Manipulator

Himanshu Chaudhary, Vikas Panwar, N. Sukavanam, and Rajendra Prasad
Abstract—A hybrid force plus position controller based on adaptive neuro fuzzy inference system proportional derivative + integral (ANFIS-PD+I), with unspecified robot dynamics has been proposed for a robot manipulator under constrained environment. The proposed controller has been employed as a principal controller to tune up orthodox PID gains throughout the complete trajectory tracking process. The validity of the proposed controller has been studied using a 6-Degree of Freedom (DOF) PUMA robot manipulator. Simulation outcomes illustrates that the projected force / position controller adheres to the desired path closer and smoother.

Index Terms—Adaptive neuro fuzzy control, degrees of freedom, force control, position control, robot manipulator.

Himanshu Chaudhary is with the Department of Electrical Engineering, IITR, India (e-mail: himan.74@ gmail.com, rpdeefee@iitr.ac.in).
Vikas Panwar and Rajendra Prasad are with the School of Vocational Studies & Applied Sciences, GBU, India (e-mail:vikasdma@gmail.com).
N. Sukavanum is with the Department of Mathematics, IITR, India (e-mail: nskukvfma@iitr.ac.in).

[PDF]

Cite:Himanshu Chaudhary, Vikas Panwar, N. Sukavanam, and Rajendra Prasad, "ANFIS PD+I Based Hybrid Force/ Position Control of an Industrial Robot Manipulator," International Journal of Materials, Mechanics and Manufacturing vol. 2, no. 2, pp. 107-112, 2014.

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