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JACIII Vol.6 No.3 pp. 100-108
doi: 10.20965/jaciii.2002.p0100
(2002)

Paper:

Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Control with Actuators’ Forces Fuzzy Compensation

Zakarya Zyada, Yasuhisa Hasegawa and Toshio Fukuda

Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan

Received:
September 1, 2002
Accepted:
October 15, 2002
Published:
October 20, 2002
Keywords:
fuzzy compensation, hydraulic actuators, parallel manipulators and force control
Abstract

This paper proposes fuzzy compensation for actuators’ motion forces, (dynamics, gravity and friction) in a force/motion control algorithm for the assembly of segments of a shield tunnel excavation applying a 6 DOF hydraulic parallel link manipulator. First, we introduce the feedback force/motion control algorithm with fuzzy forces compensation. Then, we introduce a rule-base fuzzy compensating model and its real-time implementation for every hydraulic actuator of a Stewart Platform so that we can reduce the effect of friction forces and hence improve the quality of force control and assembly. The experimental results of the control system with and without fuzzy compensation are presented, which show a good achievement in contact force estimation and manipulator motion utilizing the proposed fuzzy compensation.

Cite this article as:
Zakarya Zyada, Yasuhisa Hasegawa, and Toshio Fukuda, “Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Control with Actuators’ Forces Fuzzy Compensation,” J. Adv. Comput. Intell. Intell. Inform., Vol.6, No.3, pp. 100-108, 2002.
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