Hybrid controller for adaptive link control of industrial robots

This paper presents a new adaptation mechanism for a cascaded position controller. The cascaded position controller consists of P.I.D. controllers the parameters of which;Ire changed by a fuzzy lo ic adaptation mechanism. The proposed fuzzy logic adaptation mechanism is tested using the six-degree-of-freedom-robot RV 15, manufactured by Reis Robotics. Using the fuzzy logic adaptation mechanism, the cartesian position error of the tool center point can be significantly reduced by 50 %. Another enhancement of the dynamic behaviour, which can be achieved by the fuzzy logic adaptation mechanism, is to lessen the influence of different loads on the cartesian position error.