.png){kind=icon}
.png){kind=icon}
Return
Self-adjusting force/bit blending control based on quantitative factor-scale factor fuzzy-PID bit control
.png){kind=icon}
OA
AI
DOI：10.1016/j.aej.2021.09.067.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
In order to improve the operation performance and environmental adaptability of the manipulator, it is essential to control the position and force of the manipulator simultaneously. This paper proposed a hybrid control method of auto-dynamic bit based on bit control to realize flexible grasping of manipulator in unknown environment. The constraint conditions and control types of the hybrid force/bit control are analyzed firstly, and the dynamic model when contacting with the environment is established. Then, an improved position controller based on conventional fuzzy-PID control strategy is introduced to realize the hybrid force/bit control based on the position control by combining constraint estimation method and impedance force control. Finally, the control performance of the force/bit hybrid controller is verified by simulation experiments. The results show that the designed control strategy has relatively ideal force control precision and higher trajectory tracking ability, and the manipulator model has better compliance. (C) 2021 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Alexandria University.
Keywords:
2-DOF manipulator
Force/bit mixing control
Fuzzy-PID
Simulation experiment
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
6.8
Papers:
6.3K
Citations:
2.6W