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

Research output: Contribution to journalArticle

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Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI. / Wen, Shu Huan; Zheng, Wei; Jia, Shi Dong; Ji, Zhi Xin; Hao, Peng Cheng; Lam, Hak Keung.

In: International Journal of Control, Automation and Systems, Vol. 18, No. 6, 01.06.2020, p. 1629-1641.

Research output: Contribution to journalArticle

Harvard

Wen, SH, Zheng, W, Jia, SD, Ji, ZX, Hao, PC & Lam, HK 2020, 'Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI', International Journal of Control, Automation and Systems, vol. 18, no. 6, pp. 1629-1641. https://doi.org/10.1007/s12555-018-0579-7

APA

Wen, S. H., Zheng, W., Jia, S. D., Ji, Z. X., Hao, P. C., & Lam, H. K. (2020). Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI. International Journal of Control, Automation and Systems, 18(6), 1629-1641. https://doi.org/10.1007/s12555-018-0579-7

Vancouver

Wen SH, Zheng W, Jia SD, Ji ZX, Hao PC, Lam HK. Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI. International Journal of Control, Automation and Systems. 2020 Jun 1;18(6):1629-1641. https://doi.org/10.1007/s12555-018-0579-7

Author

Wen, Shu Huan ; Zheng, Wei ; Jia, Shi Dong ; Ji, Zhi Xin ; Hao, Peng Cheng ; Lam, Hak Keung. / Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI. In: International Journal of Control, Automation and Systems. 2020 ; Vol. 18, No. 6. pp. 1629-1641.

Bibtex Download

@article{b94a20a440c54ec9be499a75b2c7f2ca,
title = "Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI",
abstract = "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.",
keywords = "Fuzzy control, parallel robots, position/force hybrid control, redundant actuation",
author = "Wen, {Shu Huan} and Wei Zheng and Jia, {Shi Dong} and Ji, {Zhi Xin} and Hao, {Peng Cheng} and Lam, {Hak Keung}",
year = "2020",
month = jun,
day = "1",
doi = "10.1007/s12555-018-0579-7",
language = "English",
volume = "18",
pages = "1629--1641",
journal = "INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS",
issn = "1598-6446",
publisher = "Institute of Control, Robotics and Systems",
number = "6",

}

RIS (suitable for import to EndNote) Download

TY - JOUR

T1 - Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI

AU - Wen, Shu Huan

AU - Zheng, Wei

AU - Jia, Shi Dong

AU - Ji, Zhi Xin

AU - Hao, Peng Cheng

AU - Lam, Hak Keung

PY - 2020/6/1

Y1 - 2020/6/1

N2 - 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.

AB - 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.

KW - Fuzzy control

KW - parallel robots

KW - position/force hybrid control

KW - redundant actuation

UR - http://www.scopus.com/inward/record.url?scp=85078121921&partnerID=8YFLogxK

U2 - 10.1007/s12555-018-0579-7

DO - 10.1007/s12555-018-0579-7

M3 - Article

AN - SCOPUS:85078121921

VL - 18

SP - 1629

EP - 1641

JO - INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS

JF - INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS

SN - 1598-6446

IS - 6

ER -

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