Gripping Force Optimization Based on an ANFIS Controller for an Object Manipulated by Two 3-DOF Cooperative Manipulators

摘要

In this article, it is suggested that a two 3 DOF(tree degree of freedom) cooperative robotic system be controlled using a control strategy that relies on an inverse dynamics controller using ANFIS (Adaptive Neuro-Fuzzy Inference System). Utilizing a two-robot manipulator system, an object is moved while taking into account an elastic tool-object contact. For the double arm, the inverse kinematics are solved. In order to obtain the necessary complete equations. Additionally, the motion dynamic equations for the closed chain, which encompasses both arms, are also determined. To demonstrate the ANFIS controller's performance, simulation results in Matlab/SimMechanic are given. The effectiveness of the employed method is validated through testing the proposed control strategy in three object manipulation tasks, yielding positive test results.