Sm. Prabhu et Dp. Garg, DESIGN OF A FUZZY-LOGIC BASED ROBOTIC ADMITTANCE CONTROLLER, Intelligent automation and soft computing, 4(2), 1998, pp. 175-189
A fuzzy logic based admittance control approach is proposed for the co
ntrol of robotic end-effector forces occurring during a typical automa
ted robotic manufacturing task. The proposed admittance control approa
ch provides the necessary nonlinear control actions required in a typi
cal automated robotic manufacturing task, and at the same rime enables
the incorporation of existing knowledge obtained from the process ope
rator, in the design of the controller. This can significantly reduce
the controller development time. The robotic deburring task is used as
an example of a typical manufacturing task, although the technique ca
n be easily extended to other manufacturing tasks. Automated robotic d
eburring offers an attractive alternative to manual deburring in terms
of reduced costs and improved quality of the finished parts. The appr
oaches proposed for control of deburring using conventional control te
chniques require an accurate process model and hence are not ideally s
uited for control under conditions of uncertainty in the available inf
ormation about the process. FUZZY logic control techniques offer an al
ternative to conventional control methods used for the deburring task.
A fuzzy logic rule base is designed, using the knowledge obtained fro
m the deburring operator, to control the deburring robot in the presen
ce of uncertainties in the burr size and location information. The fuz
zy logic controller issues corrections to the nominal robot trajectory
based on the burrs encountered. The corrected robot trajectory is the
n input to a robot positional controller. Simulation results are prese
nted to demonstrate the effectiveness of the proposed fuzzy logic base
d admittance control scheme in controlling the automated robotic debur
ring operation.