Hybrid force/position approach for flexible-joint robot with Fuzzy-Sliding mode control

Abstract

The flexibility of the joints must be taken into account in the design of the control law. In this work, we present a hybrid force / position approach based on the external control loop with the Fuzzy-Sliding Mode Control to have the sliding mode robustness and the universal approximation of the fuzzy control in the case where the robot applies a force on the external environment and the flexibility has a harmful effect on the task performed by the robot. A simulation on the robot PUMA 560 has been realized and the results are presented.