Conventional and Fuzzy Force Control in Robotised Machining

Abstract

Abstract. This article presents an application of the hybrid position-force control of the robotic manipulator with use of artificial neural networks and fuzzy logic systems in complex control system. The mathematical description of the manipulator and a closed-loop system are presented. In the position control were used the PD controller and artificial neural networks, which compensate nonlinearities of the manipulator. The paper presents mainly the application of various strategies of the force control. The force control strategies using conventional controllers P, PI, PD, PID and fuzzy controllers are presented and discussed. All of the control methods were verified on the real object in order to make a comparison of a control quality.

Properties of Mechatronic System for Hand Rehabilitation

“…The device is designed for the rehabilitation of the upper limb with particular regard to the ability to exercise individual fingers, widening the range of their movements, and to increase their precision of movement [1,6,10,11,15]. The proposed solution associated with exercising the range of movements, other for the thumb and other for the rest of the fingers, is dictated by the need for higher precision and maneuvers of the thumb, compared to other fingers, which in turn is connected with daily activities people deal with today (including operating smartphones).…”

Optimization of Process Parameters of Edge Robotic Deburring with Force Control

“…In the fast-changing processes of low force in tool-detail contact active tools with variable contact force are used [1,6,7,8,9]. In processes where the contact force exceeds 10 [N] robotic systems with control force are employed (force control) [2,3,5]. An alternative approach is to generate a tool path on the basis of shape measurements carried out using a laser or machine vision systems.…”

Analiza więzów manipulatora w zadaniu zrobotyzowanej obróbki mechanicznej dyfuzora

“…Analizowano w nich m.in. zastosowanie metod klasycznych, układów neuronowych i neuronowo-rozmytych w sterowaniu pozycyjnym [6,7,9,10] oraz regulatorów konwencjonalnych (PID) i rozmytych w sterowaniu siłowym [11]. Inne rozwiązania sterowania siłowego przedstawione są w pracach [15,16].…”