Fuzzy Based Positioning Control for Bolt Tightening Robot on Power Transmission Line

This paper proposed a novel positioning control based on fuzzy sliding controller for bolt tightening robot. In this method, the adaptive radial basis function neural network (RBFNN) is apply to approximate the system dynamics, and the weight of RBFNN is adjusted through the adaptive method to make sure that the system state slide on the sliding surface. Adaptive fuzzy system is used to adjust the sliding mode control gain. The experimental results show that the method can effectively control the robot arm to complete the trajectory tracking.