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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Vydané v:Lecture notes in engineering and computer science Ročník 2231/2232; s. 691
Hlavní autori: Thunyajarern, Sutthipong, Seeboonruang, Uma, Kaitwanidvilai, Somyot
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Hong Kong International Association of Engineers 25.10.2017
Predmet:
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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Shrnutí: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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ISSN:2078-0958
2078-0966