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).
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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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