Hybrid Controller for Adaptive Link Control of Industrial Robots

This paper presents a new adaptation mechanism for a cascaded positioncontroller. The cascaded position controller consists of P.I.D. controllersthe parameters of which are changed by a fuzzy logic adaptation mechanism.The proposed fuzzy logic adaptation mechanism is tested using thesix-degree-of-freedom-robot RV 15, manufactured by Reis Robotics. Using thefuzzy logic adaptation mechanism, the cartesian position error of the toolcenter point can be significantly reduced by 50 %. Anotherenhancement of the dynamic behaviour, which can be achieved by the fuzzylogic adaptation mechanism, is to lessen the influence of different loads onthe cartesian position error.