ADAPTIVE FUZZY CONTROL OF MECHANICAL-BEHAVIOR FOR A 2-DEGREE-OF-FREEDOM ROBOTIC MANIPULATOR

Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requiremen t here is mechanical isotropy of the robot end-point. In this paper th e problem of how to achieve this kind of mechanical behaviour is consi dered from aspects of impedance control and fuzzy set theory. The new fuzzy-impedance control law, which is suitable for real-time applicati ons, is proposed for a two degree-of-freedom (2-d.o.f.) robotic manipu lator. According to simulation results, the proposed control law can p rovide approximately isotropic behaviour of the robot end-point in the whole workspace.