PSO based Adaptive Force Controller for 6 DOF Robot Manipulators
Force control in robot arm has been used in many industrial applications especially end-effector contacting with environment. When environment is change, the performance of non-adaptive controller may be decreased. This paper presents adaptive force controller for 6 DOF (degree of freedom) Robot Man...
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| Vydáno v: | Lecture notes in engineering and computer science Ročník 2231/2232; s. 691 |
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| Hlavní autoři: | , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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Hong Kong
International Association of Engineers
25.10.2017
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| ISSN: | 2078-0958, 2078-0966 |
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| Abstract | Force control in robot arm has been used in many industrial applications especially end-effector contacting with environment. When environment is change, the performance of non-adaptive controller may be decreased. This paper presents adaptive force controller for 6 DOF (degree of freedom) Robot Manipulators that do not require identifying the environment before controlling. Particle swarm optimization (PSO) has been employed to solve this problem. In simulation, the end-effector was moved and touched different environments. The simulation results were compared with typical non-adaptive control. The result shows that when the environment is changed, the performance of non-adaptive force controller decreased. On the other hand, the performance of PSO based adaptive force controller remained the same. |
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| AbstractList | Force control in robot arm has been used in many industrial applications especially end-effector contacting with environment. When environment is change, the performance of non-adaptive controller may be decreased. This paper presents adaptive force controller for 6 DOF (degree of freedom) Robot Manipulators that do not require identifying the environment before controlling. Particle swarm optimization (PSO) has been employed to solve this problem. In simulation, the end-effector was moved and touched different environments. The simulation results were compared with typical non-adaptive control. The result shows that when the environment is changed, the performance of non-adaptive force controller decreased. On the other hand, the performance of PSO based adaptive force controller remained the same. |
| Author | Seeboonruang, Uma Thunyajarern, Sutthipong Kaitwanidvilai, Somyot |
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| Copyright | Copyright International Association of Engineers Oct 25-Oct 27, 2017 |
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| Snippet | Force control in robot arm has been used in many industrial applications especially end-effector contacting with environment. When environment is change, the... |
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| SubjectTerms | Adaptive control Degrees of freedom Industrial applications Manipulators Particle swarm optimization Robot arms Robot control Robots |
| Title | PSO based Adaptive Force Controller for 6 DOF Robot Manipulators |
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