HIERARCHICAL FUZZY FORCE CONTROL FOR INDUSTRIAL ROBOTS

In this paper, we present a hierarchical force control framework consi sting of a high-level control system based on fuzzy logic and the exis ting motion control system of a manipulator in the low level, In order to adapt various contact conditions, an adaptable fuzzy force control scheme has been proposed to improve the performance. The ability of t he adaptable force control system is achieved by tuning the scaling fa ctor of the fuzzy logic controller (FLC), A Mitsubishi MELFA RV-M1 ind ustrial robot equipped with a BL Force/Torque sensor is utilized for i mplementing the hierarchical fuzzy force control system, Successful ex periments for various contact motions are carried out. Additionally, d iscussion of a peg-in-hole insertion is presented, and the experimenta l results are given.