2023
DOI: 10.3233/jifs-224250
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Fuzzy-based variable impedance control of uncertain robot manipulator in the flexible environment: A nonlinear force contact model-based approach

Ying Guo,
Jinzhu Peng,
Shuai Ding
et al.

Abstract: In this paper, a variable impedance control method is proposed for uncertain robotic systems based on a nonlinear force contact-based flexible environmental model. First, a nonlinear force contact model between the rigid manipulator and flexible environment is applied to the compliant control of the manipulator, which can avoid excessive force overshoot that usually exists in the traditional spring-damping environmental model. Then, to achieve better force/position tracking performances, a fuzzy-based adaptive… Show more

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