Intelligent active force control of a three-link manipulator using fuzzy logic
The paper presents a novel approach to estimate the inertia matrix of a robot arm using a fuzzy logic (FL) mechanism in order to trigger the active force control (AFC) strategy. A comprehensive study is performed on a rigid three-link manipulator subjected to a number of external disturbances. The r...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Faculty of Mechanical Engineering
2003
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| Online Access: | http://eprints.utm.my/7921/ http://eprints.utm.my/7921/1/MusaMailah2003_IntelligentActiveForceControlof.pdf |
| _version_ | 1848891579888041984 |
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| author | Mailah, Musa Low, Hook Jong |
| author_facet | Mailah, Musa Low, Hook Jong |
| author_sort | Mailah, Musa |
| building | UTeM Institutional Repository |
| collection | Online Access |
| description | The paper presents a novel approach to estimate the inertia matrix of a robot arm using a fuzzy logic (FL) mechanism in order to trigger the active force control (AFC) strategy. A comprehensive study is performed on a rigid three-link manipulator subjected to a number of external disturbances. The robustness and effectiveness of the proposed control scheme are investigated considering the trajectory track performance of the robotic arm taking into account the application of external disturbances and that the arm is commanded to describe a reference trajectory given a number of initial and operating conditions. The results show that the FL mechanism used in the study successfully computes appropriate estimated inertia matrix value to execute the control action. The proposed scheme exhibits a high degree of robustness and accuracy as the track error is bounded within an acceptable range of value even under the influence of the introduced disturbances. |
| first_indexed | 2025-11-15T21:00:13Z |
| format | Article |
| id | utm-7921 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T21:00:13Z |
| publishDate | 2003 |
| publisher | Faculty of Mechanical Engineering |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-79212010-06-02T01:49:41Z http://eprints.utm.my/7921/ Intelligent active force control of a three-link manipulator using fuzzy logic Mailah, Musa Low, Hook Jong TJ Mechanical engineering and machinery The paper presents a novel approach to estimate the inertia matrix of a robot arm using a fuzzy logic (FL) mechanism in order to trigger the active force control (AFC) strategy. A comprehensive study is performed on a rigid three-link manipulator subjected to a number of external disturbances. The robustness and effectiveness of the proposed control scheme are investigated considering the trajectory track performance of the robotic arm taking into account the application of external disturbances and that the arm is commanded to describe a reference trajectory given a number of initial and operating conditions. The results show that the FL mechanism used in the study successfully computes appropriate estimated inertia matrix value to execute the control action. The proposed scheme exhibits a high degree of robustness and accuracy as the track error is bounded within an acceptable range of value even under the influence of the introduced disturbances. Faculty of Mechanical Engineering 2003-12 Article PeerReviewed application/pdf en http://eprints.utm.my/7921/1/MusaMailah2003_IntelligentActiveForceControlof.pdf Mailah, Musa and Low, Hook Jong (2003) Intelligent active force control of a three-link manipulator using fuzzy logic. Jurnal Mekanikal (16). pp. 57-78. ISSN 0127-3396 https://www.fkm.utm.my/~mekanika/ |
| spellingShingle | TJ Mechanical engineering and machinery Mailah, Musa Low, Hook Jong Intelligent active force control of a three-link manipulator using fuzzy logic |
| title | Intelligent active force control of a three-link manipulator using fuzzy logic |
| title_full | Intelligent active force control of a three-link manipulator using fuzzy logic |
| title_fullStr | Intelligent active force control of a three-link manipulator using fuzzy logic |
| title_full_unstemmed | Intelligent active force control of a three-link manipulator using fuzzy logic |
| title_short | Intelligent active force control of a three-link manipulator using fuzzy logic |
| title_sort | intelligent active force control of a three-link manipulator using fuzzy logic |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/7921/ http://eprints.utm.my/7921/ http://eprints.utm.my/7921/1/MusaMailah2003_IntelligentActiveForceControlof.pdf |