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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment |
| LIU Hongyi1, WANG Fei1, WANG Lei2 |
| 1.School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China; 2.School of Mechanical Engineering, Shenyang Ligong University, Shenyang 110168, China |
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Abstract To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses and different surface figurations. The corresponding force control results are compared and analyzed. The influences of unknown parameters of the environment on the contact force are analyzed based on experimental data, and the tunings of predictive scale factors are illustrated. The experimental results show that the desired trajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control algorithm has high adaptability to the unknown environment.
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Issue Date: 05 June 2007
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