engleski

Fuzzy rule-based adaptive force control of a single DOF mechanisms

The paper presents a position/force control with completely fuzzified adaptive force control system for the single degree of freedom mechanisms. The proposed force control scheme contains adaptive fuzzy force controller and a subordinated fuzzy velocity controller. By using a second-order referent model, a model reference-based fuzzy adaptation mechanism is able to keep the error between the model and system output responses within the desired limits. The results obtained by computer simulations indicate a stable performance of the force control system €or a wide range of environment stiffness variations. The proposed adaptive force control method has also been efficient in case of contact with t, he rough surface or the complex form workpiece.

position/force control, fuzzy adaptive force control system

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