Intelligent ANFIS controller of two cooperative 3-DOF manipulators: the case of manipulation under non-slip constraints

摘要

The control and modeling of mechanical systems, especially robotic manipulators, is a domain that currently obsesses many researchers. The goal of this work is to develop an intelligent control model of two 3-DOF manipulators handling a common object. This model will allow us to control the gripping force by an intelligent controller (ANFIS controller) under non-slip constraints. In the first step, we are interested in the class of rigid manipulators with a simple open chain with 3-DOF. We first present a detailed study of the models used for the control and command of cooperative robots, namely the geometrical, kinematic and dynamic models: direct and inverse. We will then simulate these models on MATLAB/Simulink in order to validate and improve our modeling.