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Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI

Research output: Contribution to journalArticle

Shu Huan Wen, Wei Zheng, Shi Dong Jia, Zhi Xin Ji, Peng Cheng Hao, Hak Keung Lam

Original languageEnglish
Pages (from-to)1629-1641
Number of pages13
JournalInternational Journal of Control, Automation and Systems
Issue number6
Early online date22 Jan 2020
Accepted/In press20 Oct 2019
E-pub ahead of print22 Jan 2020
Published1 Jun 2020

King's Authors


This paper investigates the fuzzy position/force hybrid control for a class of 5-degree-of-freedom (DOF) redundantly actuated parallel robots. The position control law is designed based on the proportional-integral-differential (PID) for the 5-DOF redundantly actuated parallel robot. The fuzzy proportional-integral (PI) redundant actuation force control law is designed based on the position/force hybrid control structure for the 5-DOF redundantly actuated parallel robot. The optimum driving force is obtained in the presence of interference, and the force tracking performance of the fuzzy PI controller is better than the conventional PI controller under the interference condition. Based on the fuzzy position/force hybrid controller, the tracking performance of the closed-loop system for the 5-DOF redundantly actuated parallel robot is improved by using the fuzzy position/force hybrid controller and the interference is eliminated effectively in the control system design. Finally, the co-simulation results of ADAMS and MATLAB/SIMULINK are given to show the effectiveness and advantages of the proposed methods compared with the conventional PI controller.

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