Force Control of Robotic Manipulators Using a Fuzzy Predictive Approach

This paper proposes a force control strategy for robotic manipulators considering a non-rigid environment described by a nonlinear model. This approach uses a fuzzy predictive algorithm to generate, in an optimal way, the reference or virtual position to the classical impedance controller in order t...

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Veröffentlicht in:Journal of intelligent & robotic systems Jg. 30; H. 4; S. 359 - 376
Hauptverfasser: Baptista, L. F., Sousa, J. M., Sá da Costa, J.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Dordrecht Springer Nature B.V 01.04.2001
Schlagworte:
Algorithms
Control systems design
Controllers
End effectors
Flat surfaces
Fuzzy
Fuzzy control
Fuzzy logic
Fuzzy set theory
Impedance
Manipulators
Mathematical models
Nonlinearity
Robot arms
Robot control
Robot learning
Robotics
Robots
Strategy
Studies
Tracking
ISSN:0921-0296, 1573-0409
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Zusammenfassung:This paper proposes a force control strategy for robotic manipulators considering a non-rigid environment described by a nonlinear model. This approach uses a fuzzy predictive algorithm to generate, in an optimal way, the reference or virtual position to the classical impedance controller in order to apply a desired force profile on the environment. The main advantage of this control strategy is the possibility of including a nonlinear model of the environment in the controller design in a straightforward way, improving the global force control performance, especially in non-rigid environments. Moreover, in order to reduce the oscillations on the optimized reference position a fuzzy scaling machine is included on the force control strategy. The performance of the force control scheme is illustrated for a two degree-of-freedom PUMA 560 robot, which end-effector is forced to move along a flat surface located on the vertical plane. The simulation results obtained with the fuzzy control scheme reveal significant improvement in the force tracking performance, when compared to the impedance control with force tracking in non-rigid environments.
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ISSN:0921-0296
1573-0409
DOI:10.1023/A:1011132715245