INTELLIGENT ACTIVE FORCE CONTROL OF A THREE-LINK MANIPULATOR USING FUZZY LOGIC
Keywords:
Active force control, fuzzy logic, estimated inertia matrix, robust, three-link manipulatorAbstract
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 fo rce 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 propo sed 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
traj ectory given a number of initial and operating conditions. The results show that the FL
mechanism used in the study successfu lly 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.
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