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A self-tuning fuzzy robotic force controller

Lookup NU author(s): Dr Bob Bicker, Dr Zhongxu Hu, Dr Kevin Burn


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Most industrial robots are controlled as position servo-based manipulators. This has made most advanced force control algorithms unpractical and difficult to implement. In this paper a position based fuzzy PID force controller is proposed to regulate contact force of a six degree of freedom industrial robot where the environment contact stiffness varies considerably. Based on a relationship between fuzzy PID and conventional PID control laws and the application of a simple fuzzy self-tuning method, the controller is tuned and satisfying experimental results have been obtained to validate its efficiency.

Publication metadata

Author(s): Bicker R, Hu ZX, Burn K

Editor(s): Bianchi, G., Guinot, J.C., Rzymkowski, C.

Publication type: Conference Proceedings (inc. Abstract)

Publication status: Published

Conference Name: 14th Symposium on Theory and Practice of Robots and Manipulators

Year of Conference: 2002

Pages: 119-126

Publisher: Springer

Library holdings: Search Newcastle University Library for this item

Series Title: CISM International Centre for Mechanical Sciences

ISBN: 9783211836910