Design of a Fuzzy Logic Based Robotic Admittance Controller

A fuzzy logic based admittance control approach is proposed for the control of robotic end-effector forces occurring during a typical automated robotic manufacturing task. The proposed admittance control approach provides the necessary nonlinear control actions required in a typical automated robotic manufacturing task, and at the same time enables the incorporation of existing knowledge obtained from the process operator, 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 can be easily extended to other manufacturing tasks. Automated robotic deburring offers an attractive alternative to manual deburring in terms of reduced costs and improved quality of the finished parts. The approaches proposed for control of deburring using conventional control techniques require an accurate process model and hence are not ideally suited for control under conditions of uncertainty in the available information about the process. Fuzzy logic control techniques offer an alternative to conventional control methods used for the deburring task. A fuzzy logic rule base is designed, using the knowledge obtained from the deburring operator, to control the deburring robot in the presence of uncertainties in the burr size and location information. The fuzzy logic controller issues corrections to the nominal robot trajectory based on the burrs encountered. The corrected robot trajectory is then input to a robot positional controller. Simulation results are presented to demonstrate the effectiveness of the proposed fuzzy logic based admittance control scheme in controlling the automated robotic deburring operation. © 1998 Taylor & Francis Group, LLC.

Duke Scholars

Author Devendra P. Garg Thomas Lord Department of Mechanical Engineering and Materia ...