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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

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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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Authors and Affiliations

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang, 110004, China

    Liu Hongyi & Wang Lei

  2. School of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110168, China

    Wang Fei

Authors
  1. Liu Hongyi
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  2. Wang Lei
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  3. Wang Fei
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Corresponding author

Correspondence to Liu Hongyi.

Additional information

Translated from Journal of Northeastern University (Natural Science), 2005, 26(8): 766–769 [译自: 东北大学学报 (自然科学版)]

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Liu, H., Wang, L. & Wang, F. Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment. Front. Mech. Eng. China 2, 168–174 (2007). https://doi.org/10.1007/s11465-007-0028-4

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  • DOI: https://doi.org/10.1007/s11465-007-0028-4

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