Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control
Impedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information. If the environmental information is unknown, constant im...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-07-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/12/8/305 |
| _version_ | 1797585905562681344 |
|---|---|
| author | Dexin Kong Qingjiu Huang |
| author_facet | Dexin Kong Qingjiu Huang |
| author_sort | Dexin Kong |
| collection | DOAJ |
| description | Impedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information. If the environmental information is unknown, constant impedance control is not capable of handling the task. To address this, this paper proposes a variable universe fuzzy model reference adaptive impedance control method that achieves effective force tracking even in the presence of unknown environmental information. A variable universe fuzzy controller was employed to determine the impedance parameters. The force tracking error and its rate of change were used as two input parameters for the variable universe fuzzy controller, which utilizes fuzzy inference to obtain the incremental values of the impedance parameters. For the introduced model reference controller, a novel adaptive law was employed to obtain the coefficients for contact force and torque. Subsequently, the contact force of the manipulator in Cartesian space was taken as the research object, and a simulation model of a six-joint manipulator was established in MATLAB/Simulink. By comparing it with the constant impedance control method, the feasibility and effectiveness of this control approach were validated. |
| first_indexed | 2024-03-11T00:13:46Z |
| format | Article |
| id | doaj.art-abbdc03f4625460bba579f24355174dd |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-11T00:13:46Z |
| publishDate | 2023-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-abbdc03f4625460bba579f24355174dd2023-11-18T23:48:44ZengMDPI AGActuators2076-08252023-07-0112830510.3390/act12080305Impedance Force Control of Manipulator Based on Variable Universe Fuzzy ControlDexin Kong0Qingjiu Huang1School of Information and Electronic Engineering, Zhejiang Gongshang University, Hangzhou 310018, ChinaControl System Laboratory, Graduate School of Engineering, Kogakuin University, Tokyo 163-8677, JapanImpedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information. If the environmental information is unknown, constant impedance control is not capable of handling the task. To address this, this paper proposes a variable universe fuzzy model reference adaptive impedance control method that achieves effective force tracking even in the presence of unknown environmental information. A variable universe fuzzy controller was employed to determine the impedance parameters. The force tracking error and its rate of change were used as two input parameters for the variable universe fuzzy controller, which utilizes fuzzy inference to obtain the incremental values of the impedance parameters. For the introduced model reference controller, a novel adaptive law was employed to obtain the coefficients for contact force and torque. Subsequently, the contact force of the manipulator in Cartesian space was taken as the research object, and a simulation model of a six-joint manipulator was established in MATLAB/Simulink. By comparing it with the constant impedance control method, the feasibility and effectiveness of this control approach were validated.https://www.mdpi.com/2076-0825/12/8/305impedance controlmanipulatorforce trackingfuzzy controllermodel reference |
| spellingShingle | Dexin Kong Qingjiu Huang Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control Actuators impedance control manipulator force tracking fuzzy controller model reference |
| title | Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control |
| title_full | Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control |
| title_fullStr | Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control |
| title_full_unstemmed | Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control |
| title_short | Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control |
| title_sort | impedance force control of manipulator based on variable universe fuzzy control |
| topic | impedance control manipulator force tracking fuzzy controller model reference |
| url | https://www.mdpi.com/2076-0825/12/8/305 |
| work_keys_str_mv | AT dexinkong impedanceforcecontrolofmanipulatorbasedonvariableuniversefuzzycontrol AT qingjiuhuang impedanceforcecontrolofmanipulatorbasedonvariableuniversefuzzycontrol |