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Intelligent active force control of a robot arm using fuzzy logic

The paper describes a novel and intelligent method of estimating the inertial parameter of a rigid robot arm employing an active force control (AFC) strategy with a fuzzy logic (FL) mechanism embedded in its control loop. The robustness and effectiveness of the proposed central scheme are investigat...

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Main Authors: Mailah, Mailah, Abdul Rahim, Nurul Izzah
Format: Article
Language:English
Published: IEEE 2000
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/2325/1/Mailah2000__IntelligentActiveForceControlOf.pdf
http://eprints.utm.my/id/eprint/2325/
http://dx.doi.org10.1109/TENCON.2000.888750
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id my.utm.2325
record_format eprints
spelling my.utm.23252010-10-11T04:32:55Z http://eprints.utm.my/id/eprint/2325/ Intelligent active force control of a robot arm using fuzzy logic Mailah, Mailah Abdul Rahim, Nurul Izzah TK Electrical engineering. Electronics Nuclear engineering The paper describes a novel and intelligent method of estimating the inertial parameter of a rigid robot arm employing an active force control (AFC) strategy with a fuzzy logic (FL) mechanism embedded in its control loop. The robustness and effectiveness of the proposed central scheme are investigated considering the trajectory track performance of the arm taking into account the application of some forms of external disturbances as the robot describes a reference trajectory given a number of initial and operating conditions. The track performance of the proposed scheme is also compared with an equivalent system employing classical proportional-derivative (PD) control IEEE 2000-09-24 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/2325/1/Mailah2000__IntelligentActiveForceControlOf.pdf Mailah, Mailah and Abdul Rahim, Nurul Izzah (2000) Intelligent active force control of a robot arm using fuzzy logic. TENCON 2000. Proceedings, 2 . pp. 291-296. http://dx.doi.org10.1109/TENCON.2000.888750 doi:10.1109/TENCON.2000.888750
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mailah, Mailah
Abdul Rahim, Nurul Izzah
Intelligent active force control of a robot arm using fuzzy logic
description The paper describes a novel and intelligent method of estimating the inertial parameter of a rigid robot arm employing an active force control (AFC) strategy with a fuzzy logic (FL) mechanism embedded in its control loop. The robustness and effectiveness of the proposed central scheme are investigated considering the trajectory track performance of the arm taking into account the application of some forms of external disturbances as the robot describes a reference trajectory given a number of initial and operating conditions. The track performance of the proposed scheme is also compared with an equivalent system employing classical proportional-derivative (PD) control
format Article
author Mailah, Mailah
Abdul Rahim, Nurul Izzah
author_facet Mailah, Mailah
Abdul Rahim, Nurul Izzah
author_sort Mailah, Mailah
title Intelligent active force control of a robot arm using fuzzy logic
title_short Intelligent active force control of a robot arm using fuzzy logic
title_full Intelligent active force control of a robot arm using fuzzy logic
title_fullStr Intelligent active force control of a robot arm using fuzzy logic
title_full_unstemmed Intelligent active force control of a robot arm using fuzzy logic
title_sort intelligent active force control of a robot arm using fuzzy logic
publisher IEEE
publishDate 2000
url http://eprints.utm.my/id/eprint/2325/1/Mailah2000__IntelligentActiveForceControlOf.pdf
http://eprints.utm.my/id/eprint/2325/
http://dx.doi.org10.1109/TENCON.2000.888750
_version_ 1643643561048014848
score 13.244404

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