Authors: Y. Touati, Y. Amirat
Addresses: Computer Science and Robotics Lab, LIIA, Paris 12 Val de Marne University, 120 122, rue Paul Armangot, 94400 Vitry/Seine, France. ' Computer Science and Robotics Lab, LIIA, Paris 12 Val de Marne University, 120 122, rue Paul Armangot, 94400 Vitry/Seine, France
Abstract: This paper presents an approach for complex task control involving robot-environment interaction. For this purpose, an effective hybrid force/position based-approach for MIMO robot control is proposed. This approach is based on Fuzzy Logic Controller (FLC) design and optimisation methodology operating in two stages: At the first stage, the FLC is trained offline on the basis of data acquired during free motion of the robot, in order to map FLC outputs to real behaviour. A method based on Solis| and Wetts| algorithm is then applied for fuzzy parameter optimisation so that the constraints in terms of interpretability of the predefined rules are respected. Finally, an online learning is implemented into the proposed control structure. The approach has been implemented into an experimental setup, including a 2D Cartesian robot linked to a C5 parallel robot, performing contour following under force constraints. The analysis of the obtained results shows the efficiency of the proposed approach.
Keywords: hybrid control; force control; position control; fuzzy systems; optimisation; fuzzy logic; fuzzy control; robot control; robotics; control design; online learning; robot learning; robot motion; parallel robots; Cartesian robots.
International Journal of Computer Applications in Technology, 2006 Vol.27 No.2/3, pp.85 - 96
Published online: 19 Oct 2006 *Full-text access for editors Access for subscribers Purchase this article Comment on this article