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Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator

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Abstract

In this paper an ANFIS-PD+I (AFSPD+I) based hybrid force/position controller has been proposed which works effectively with unspecified robot dynamics in the presence of external disturbances. A constraint is put to limit the movement of manipulator in XY Cartesian coordinates. The validity of the proposed controller has been tested using a 6-degree of freedom PUMA robot manipulator. The performance comparison have been done with the fuzzy proportional derivative plus integral, fuzzy proportional integral derivative and conventional proportional integral derivative controllers subjected to the same data set with proposed controller. The projected AFSPD+I controller adhered to the desired path closer and smoother than the other mentioned controllers.

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Authors and Affiliations

  1. Department of Electrical Engineering, IITR, Roorkee, India

    Himanshu Chaudhary & Rajendra Prasad

  2. School of Vocational Studies and Applied Sciences, GBU, Greater Noida, India

    Vikas Panwar

  3. Department of Mathematics, IITR, Roorkee, India

    N. Sukavanam

Authors
  1. Himanshu Chaudhary
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  2. Vikas Panwar
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  3. Rajendra Prasad
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  4. N. Sukavanam
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Correspondence to Himanshu Chaudhary.

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Chaudhary, H., Panwar, V., Prasad, R. et al. Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator. J Intell Manuf 27, 1299–1308 (2016). https://doi.org/10.1007/s10845-014-0952-1

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