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Contact Force Control Between Robotic End-Effector and Environmrnt

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For the advanced robot assembly and coordination cooperation application, the robot end-effector motion trajectory accuracy and appropriate contact force against the environment are two important factors during desired impedance operation. Hence, a generalized hybrid control strategy need be developed for monitoring the motion control error and an interaction force command in the task space, simultaneously, such that the end-effector contact force can be commanded and controlled. Here, the model-free intelligent self-organizing fuzzy controller (SOFC) is introduced to design force and position controllers, respectively for hybrid impedance control purpose. It has on-line learning mechanism for sustaining the working condition change. Force sensor is installed in Mitsubishi robot end-effector to measure the dynamic contact force during compliant operations. The experimental results show that the proposed hybrid self-organizing fuzzy control system can effectively monitor this kind of dynamic operations.
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Document Type: Research Article

Publication date: August 1, 2012

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  • ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
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