Fuzzy rule based position/force control of industrial manipulators

摘要

A force/position control method is proposed for robot manipulators equipped with a wrist force/torque sensor and position servo drives. Especially, fuzzy PI gain tuning rules are suggested to improve the transient force response. To show the validity of the proposed method, a numerical example employing a two-link manipulator is given.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>