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Fuzzy rule-based adaptive force control of a single DOF mechanisms

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2 Author(s)
Bogdan, S. ; Dept. of Electr. Eng., Zagreb Univ., Croatia ; Kovačić, Z.

A position/force control with completely fuzzified adaptive force control system for the single degree of freedom mechanisms is presented. The proposed force control scheme contains are adaptive fuzzy force controller and a subordinated fuzzy velocity controller. By using a second-order referent model, a model reference-based fuzzy adaptation mechanism is able to keep the error between the model and system output responses within the desired limits. The results obtained by computer simulations indicate a stable performance of the force control system for a wide range of environment stiffness variations. The proposed adaptive force control method is efficient in the case of contact with the rough surface or the complex form workpiece

Published in:

Intelligent Control, 1993., Proceedings of the 1993 IEEE International Symposium on

Date of Conference:

25-27 Aug 1993