Abstract
This paper describes a position and force hybrid control problem in a robot manipulator with artificial rubber muscle actuators. Three control laws, the PID control, the fuzzy control and the PID plus fuzzy control which have no information on a mathematical model of the control object, are applied to this problem. Since it is not easy to optimally determine many PID servo gains, we introduce a new fuzzy control method in which trials and errors required to tune the fuzzy controller can be reduced, compared with the conventional method. In addition, this fuzzy controller can also be applied to compensate a PID servo controller without tuning feedback gains. The effectiveness of the three control laws is illustrated by conducting some experiments on a two-link manipulator.
| Original language | English |
|---|---|
| Pages (from-to) | 2706-2713 |
| Number of pages | 8 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 62 |
| Issue number | 599 |
| Publication status | Published - Jul 1996 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Mechanical Engineering
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Experiments on position and force hybrid control using PID and fuzzy controllers for a robotic manipulator with artificial rubber muscles. / Jin, Sangho; Watanabe, Keigo.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 62, No. 599, 07.1996, p. 2706-2713.Research output: Contribution to journal › Article
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TY - JOUR
T1 - Experiments on position and force hybrid control using PID and fuzzy controllers for a robotic manipulator with artificial rubber muscles
AU - Jin, Sangho
AU - Watanabe, Keigo
PY - 1996/7
Y1 - 1996/7
N2 - This paper describes a position and force hybrid control problem in a robot manipulator with artificial rubber muscle actuators. Three control laws, the PID control, the fuzzy control and the PID plus fuzzy control which have no information on a mathematical model of the control object, are applied to this problem. Since it is not easy to optimally determine many PID servo gains, we introduce a new fuzzy control method in which trials and errors required to tune the fuzzy controller can be reduced, compared with the conventional method. In addition, this fuzzy controller can also be applied to compensate a PID servo controller without tuning feedback gains. The effectiveness of the three control laws is illustrated by conducting some experiments on a two-link manipulator.
AB - This paper describes a position and force hybrid control problem in a robot manipulator with artificial rubber muscle actuators. Three control laws, the PID control, the fuzzy control and the PID plus fuzzy control which have no information on a mathematical model of the control object, are applied to this problem. Since it is not easy to optimally determine many PID servo gains, we introduce a new fuzzy control method in which trials and errors required to tune the fuzzy controller can be reduced, compared with the conventional method. In addition, this fuzzy controller can also be applied to compensate a PID servo controller without tuning feedback gains. The effectiveness of the three control laws is illustrated by conducting some experiments on a two-link manipulator.
UR - http://www.scopus.com/inward/record.url?scp=0030180603&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0030180603&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0030180603
VL - 62
SP - 2706
EP - 2713
JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 599
ER -