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Position-Based Fuzzy Force Control for Dual Industrial Robots

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Abstract

In this paper, a fuzzy force control framework is proposed for dual-industrial robot systems. The master/slave control method is used in dual-robot systems. Two MITSUBISHI MELFA RV-M1 industrial robots, one is equipped with an BL Force/Torque sensor and the other is not, are utilized for implementing the dual-arm system. In order to adapt various stiffness of the holding object, an adaptable fuzzy force control scheme has been proposed to improve the performance. The ability of the adaptable force control system is achieved by tuning the scaling factor of the fuzzy logic controller. Successful experiments are carried out for the dual-robot system handling an object.

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Authors and Affiliations

  1. Department of Mechanical Engineering, National Chung-Hsing University, Taichung, Taiwan

    Shih-Tin Lin & Ang-Kiong Huang

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  1. Shih-Tin Lin
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  2. Ang-Kiong Huang
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Lin, ST., Huang, AK. Position-Based Fuzzy Force Control for Dual Industrial Robots. Journal of Intelligent and Robotic Systems 19, 393–409 (1997). https://doi.org/10.1023/A:1007984412204

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