Intelligent robot deburring using adaptive fuzzy hybrid position/force control

摘要

The overwhelming complexity of the deburring process and imprecise knowledge about robot manipulators leads to a certain control problem. In the paper, a new design of hybrid position/force control of robot manipulators via an adaptive fuzzy control approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the robot motion profile to yield the desired chamfering force and an inner-loop adaptive fuzzy hybrid position/force controller which can achieve the desired chamfer depth compliantly as well as the aforementioned command in real time. The proposed adaptive fuzzy controller using B-spline type membership functions can compensate the uncertainties in a much smoother and locally weighted manner and consequently guarantee global stability of closed-loop systems. To demonstrate the effectiveness of the developed work, it is applied to the control of an industrial robot arm for deburring tasks.