سال انتشار: ۱۳۸۴
محل انتشار: اولین کنفرانس بین المللی و هفتمین کنفرانس ملی مهندسی ساخت و تولید
تعداد صفحات: ۹
Mohammad Mehdi Fateh – Ph.D. in Robotic Engineering
In this paper, a fuzzy impedance control approach is developed to provide a prescribed desired impedance model for manipulators. Objectives are to overcome uncertainties and performing tasks in cases of free motion and contact tasks with no limitation for operating in slow motion. The system can control 6 degrees of freedom in task space using individual controllers to control force components individually due to reducing number of fuzzy rules. This causes simplicity in control design and reduction of calculation. Feedbacks of position, velocity, and force of end-point are used to control system to provide a well performance subjected to disturbances and non-linearity in model and reaction contact forces. The control system is designed to achieve the prescribed dynamic behavior of robot as a mass-spring-damper model to operate in the task space with objectives of tracking and disturbance rejection.