Abstract:In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where umtrol rules of the proposed t;zzv umtroller are changed accordmg to the magnitude of environmental stiffness in such a way that good force respcmse is maintained regardless of changes of en-t al stiffness. S~c a l l y , "e fuzzy control rules are designed for several representative environmental s t i f k s s values, and then a umtrol action for a given arbitrary envh… Show more
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