Contact Force Control Between Robotic End-Effector and Environmrnt

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.