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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Published in:Lecture notes in engineering and computer science Vol. 2231/2232; p. 691
Main Authors: Thunyajarern, Sutthipong, Seeboonruang, Uma, Kaitwanidvilai, Somyot
Format: Journal Article
Language:English
Published: Hong Kong International Association of Engineers 25.10.2017
Subjects:
Adaptive control
Degrees of freedom
Industrial applications
Manipulators
Particle swarm optimization
Robot arms
Robot control
Robots
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.
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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  givenname: Somyot
  surname: Kaitwanidvilai
  fullname: Kaitwanidvilai, Somyot
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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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