Intelligent active force control of a robot arm using fuzzy logic
The paper describes a novel and intelligent method of estimating the inertial parameter of a rigid robot arm employing an active force control (AFC) strategy with a fuzzy logic (FL) mechanism embedded in its control loop. The robustness and effectiveness of the proposed central scheme are investigat...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2000
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| Online Access: | http://eprints.utm.my/2325/ http://eprints.utm.my/2325/1/Mailah2000__IntelligentActiveForceControlOf.pdf |
| _version_ | 1848890345069215744 |
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| author | Mailah, Mailah Abdul Rahim, Nurul Izzah |
| author_facet | Mailah, Mailah Abdul Rahim, Nurul Izzah |
| author_sort | Mailah, Mailah |
| building | UTeM Institutional Repository |
| collection | Online Access |
| description | The paper describes a novel and intelligent method of estimating the inertial parameter of a rigid robot arm employing an active force control (AFC) strategy with a fuzzy logic (FL) mechanism embedded in its control loop. The robustness and effectiveness of the proposed central scheme are investigated considering the trajectory track performance of the arm taking into account the application of some forms of external disturbances as the robot describes a reference trajectory given a number of initial and operating conditions. The track performance of the proposed scheme is also compared with an equivalent system employing classical proportional-derivative (PD) control |
| first_indexed | 2025-11-15T20:40:35Z |
| format | Article |
| id | utm-2325 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:40:35Z |
| publishDate | 2000 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-23252010-10-11T04:32:55Z http://eprints.utm.my/2325/ Intelligent active force control of a robot arm using fuzzy logic Mailah, Mailah Abdul Rahim, Nurul Izzah TK Electrical engineering. Electronics Nuclear engineering The paper describes a novel and intelligent method of estimating the inertial parameter of a rigid robot arm employing an active force control (AFC) strategy with a fuzzy logic (FL) mechanism embedded in its control loop. The robustness and effectiveness of the proposed central scheme are investigated considering the trajectory track performance of the arm taking into account the application of some forms of external disturbances as the robot describes a reference trajectory given a number of initial and operating conditions. The track performance of the proposed scheme is also compared with an equivalent system employing classical proportional-derivative (PD) control IEEE 2000-09-24 Article PeerReviewed application/pdf en http://eprints.utm.my/2325/1/Mailah2000__IntelligentActiveForceControlOf.pdf Mailah, Mailah and Abdul Rahim, Nurul Izzah (2000) Intelligent active force control of a robot arm using fuzzy logic. TENCON 2000. Proceedings, 2 . pp. 291-296. http://dx.doi.org10.1109/TENCON.2000.888750 doi:10.1109/TENCON.2000.888750 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mailah, Mailah Abdul Rahim, Nurul Izzah Intelligent active force control of a robot arm using fuzzy logic |
| title | Intelligent active force control of a robot arm using fuzzy logic
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| title_full | Intelligent active force control of a robot arm using fuzzy logic
|
| title_fullStr | Intelligent active force control of a robot arm using fuzzy logic
|
| title_full_unstemmed | Intelligent active force control of a robot arm using fuzzy logic
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| title_short | Intelligent active force control of a robot arm using fuzzy logic
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| title_sort | intelligent active force control of a robot arm using fuzzy logic |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/2325/ http://eprints.utm.my/2325/ http://eprints.utm.my/2325/ http://eprints.utm.my/2325/1/Mailah2000__IntelligentActiveForceControlOf.pdf |