Fuzzy-Impedance Control and Isotropic Behavior of Manipulating Robots

摘要

In this paper, the matter of discussion is mechanical isotropy of manipulating robots. The problem how to achieve the isotropic behavior is considered from the aspect of the impedance control. Due to its complexity, analytically formulated target impedance is not suitable for real-time application. To overcome this problem, here is proposed simple fuzzy dynamic model of isotropic impedance. This model is incorporated in the general form of the impedance control law, thus the new fuzzy-impedance control law is obtained. Verification of the proposed control law is provided by computer simulation, taking simple 2 dof manipulating robot as example.