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
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.
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