Hybrid position/force control of robot manipulators mounted on oscillatory bases using adaptive fuzzy control

Impedance shaping controller for robotic applications involving interacting compliant environments and compliant robot bases

“…More research has been instead dedicated to model-based control, focusing on the accurate position control in noncontact operations using inertial damping [18], [19], [20] or two-time scale controllers (fast joint torque control and slow vibration damping from the base motion/stiffness feedback) [21], [22]. Similar explicit/feedback approaches have also been extended to interaction tasks [23], [24]. Impedance controllers considering known [25] or bounded [26] base stiffness in order to retune the actual manipulator stiffness to the desired one are extendedly investigated in terms of passivity for the case of quasi-static gravity load [25] and robustness/stability of control [26] also in case of contact bandwidth.…”

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

“…The reference [12] proposed a hybrid position, posture, force, and moment control for a six-degree-of-freedom (6-DOF) robot manipulator for the surface contact work by expansion of the conventional hybrid position and force control. The issue of hybrid adaptive network-based fuzzy inference system (ANFIS) tuning methodology based force/position control of the robot manipulators mounted on oscillatory was successfully applied in [13]. When the system is in sliding mode, force, position, and redundant joint velocity errors will approach zero irrespective of parametric uncertainties so a novel sliding-adaptive controller Based on a decomposition of the rigid robot system with motor dynamics was developed in [14], which can achieve robustness to parameter variations in both manipulator and motor.…”