A new adaptive fuzzy hybrid force/position control for intelligent robot deburring

Abstract

The major control problems for robot deburring mainly arise from the uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired robot motion profile and an inner-loop adaptive fuzzy hybrid force/position controller which can achieve the command in real time. To demonstrate the effectiveness of the present work, the approach proposed is applied to the control of a five degree-of-freedom articulated robot manipulator for deburring tasks.