Hybrid controller for adaptive link control of manipulating industrial robots

This paper presents a new adaptation mechanism for a cascaded position controller. The cascaded position controller consists of PID controllers the parameters of which are changed by a fuzzy logic adaptation mechanism. The proposed fuzzy logic adaptation mechanism is tested using the six-degree-of-freedom-robot RV 15, manufactured by Reis Robotics. Using the fuzzy logic adaptation mechanism, the Cartesian position error of the tool center point can be significantly reduced by 50%. Another enhancement of the dynamic behavior, which can be achieved by the fuzzy logic adaptation mechanism, is to lessen the influence of different loads on the Cartesian position error.